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基于模型控制的人形机器人行走 MATLAB and Simulink
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https://www.youtube.com/watch?v=jnJbXdp2wak&list=PLn8PRpmsu08rdL7jwgrQjewdFXxDHbyIV&index=4 Brian Kim and Sebastian Castro discuss the theoretical foundations of humanoid walking using the linear inverted pendulum model (LIPM) with MATLAB® and Simulink®. First, Brian and Sebastian introduce the basics of generating a stable walking pattern with the linear inverted pendulum model. Then, they create a trajectory plan for the individual footsteps of a bipedal robot and apply inverse kinematics to calculate the necessary actuator motion to realize this pattern. Finally, they test the walking pattern on a 3D rigid body model of the humanoid robot created in Simscape Multibody™. You can find the example models used in this video in the MATLAB Central File Exchange. For more information, you can access the following resources: - Blog and Videos: Walking Robot Modeling and Simulation (https://bit.ly/3JTs0ST ) - Blog and Videos: Walking Robot Control (https://bit.ly/3PVa7XG ) - Paper: The 3D Linear Inverted Pendulum Mode A simple modeling for a biped walking pattern generation (Kajita et al. 2001) https://www.cs.cmu.edu/~hgeyer/Teaching/R16-899B/Papers/KajiitaEA01IEEE_ICIRS.pdf © 2019 The MathWorks, Inc. MATLAB and Simulink are registered trademarks of The MathWorks, Inc.
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