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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 (
- Blog and Videos: Walking Robot Control (
- Paper: The 3D Linear Inverted Pendulum Mode A simple modeling for a biped walking pattern generation (Kajita et al. 2001) (

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