@InProceedings{Kajita2001,
  Title                    = {The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation},
  Author                   = {Kajita, S. and Kanehiro, F. and Kaneko, K. and Yokoi, K. and Hirukawa, H.},
  Booktitle                = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
  Year                     = {2001},
  Pages                    = {239 -246 vol.1},
  Volume                   = {1},

  Abstract                 = {For 3D walking control of a biped robot we analyze the dynamics of a 3D inverted pendulum in which motion is constrained to move along an arbitrarily defined plane. This analysis yields a simple linear dynamics, the 3D linear inverted pendulum mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern generation are discussed. A simulation result of a walking control using a 12-DOF biped robot model is also shown},
  Doi                      = {10.1109/IROS.2001.973365},
  Keywords                 = {12-DOF biped robot model;3D linear inverted pendulum dynamics;3D walking control;3D-LIPM;biped walking pattern generation;linear dynamics;legged locomotion;linear systems;nonlinear control systems;pendulums;robot dynamics; lab reading (Safwan)},
  Review                   = {novel: constraint plane and eq14-15 to linearlize and decouple eqn8/9
reviewer: random plantary motion reference},
  Timestamp                = {2011.02.28}
}

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