Model-Based Control of Humanoid Walking

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 (bit.ly/3JTs0ST )
- Blog and Videos: Walking Robot Control (bit.ly/3PVa7XG )
- Paper: The 3D Linear Inverted Pendulum Mode A simple modeling for a biped walking pattern generation (Kajita et al. 2001) (www.cs.cmu.edu/~hgeyer/Teachi...)
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Visit the MATLAB and Simulink Robotics Arena for additional videos: bit.ly/2YcpXjE
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[@Mau365PP]

Wow... So cool!!! Since my first course in Robotics I have always wondered how to model the walking robot.

[@user-ur2dv4xm6j]

Nice!

[@merontadele4680]

thank you but where can i get Simulink file of this project

[@hyeonseokseong2431]

Cool

[@dhirajhasija2972]

My trajectories are correct but in simulink my model falls down, where do I start checking from?

[@bkim13]

Many things... walking is hard. But you can start by looking at the trajectory and making sure it is continuous.

[@kailashram4235]

Hey @Dhiraj Hasija, I am currently working on a project involving a walking mechanism and I am new to MATLAB Simscape, is there any way to contact you so that I could get to know about it better?

[@elizabethjviolet7869]

Where can I get the matlab and simulink for this?

[@special_locomotive_fifth]

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