ModelBased Control of Humanoid Walking

>> YOUR LINK HERE: ___ http://youtube.com/watch?v=jnJbXdp2wak

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/Teachi...) • Contact the MathWorks student competitions team: [email protected] • Visit the MATLAB and Simulink Robotics Arena for additional videos: https://bit.ly/2YcpXjE • Request software for your student competition: https://bit.ly/2P8F21n • -------------------------------------------------------------------------------------------------------- • Get a free product Trial: https://goo.gl/ZHFb5u • Learn more about MATLAB: https://goo.gl/8QV7ZZ • Learn more about Simulink: https://goo.gl/nqnbLe • See What's new in MATLAB and Simulink: https://goo.gl/pgGtod • © 2019 The MathWorks, Inc. MATLAB and Simulink are registered • trademarks of The MathWorks, Inc. • See www.mathworks.com/trademarks for a list of additional trademarks. Other product or brand names may be trademarks or registered trademarks of their respective holders.

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