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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 .

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