Biped robots: From inverted pendulum to programming 12dof dancing postures
Date Issued
2010
Author(s)
Bozhinovski, Stevo
Abstract
This paper points some aspects of biped robots, starting with
the basic mechanical metaphor, the inverted pendulum
system. We give the strategy of biped walking related to
inverted pendulum. The second part of the paper describes
our laboratory work with biped robots resembling humanoids,
exhibiting some dancing poses. A 12 DOF biped is used. We
propose a pseudocode of a general programming routine for a
biped robot.
