This repository contains the reference implementation and supplementary material for the Flexible Linear Inverted Pendulum Model (FLIPM), as introduced in the paper:
Flexible Linear Inverted Pendulum Model for Cost-Effective Biped Robots
Oliver Urbann, Ingmar Schwarz, Matthias Hofmann
IEEE-RAS International Conference on Humanoid Robots, 2015
FLIPM extends the classical Linear Inverted Pendulum Model (LIPM) by explicitly modeling joint and structural flexibility using an additional center of mass connected via a spring-damper system. This allows the generation of stable walking motions on lightweight and cost-effective humanoid robots, where compliance and servo dynamics play a significant role.
It represents the state of the code and experiments corresponding to the published paper and is no longer actively maintained.
For up-to-date information, related projects, and further research context, please refer to my research homepage, which is linked from my Google Scholar profile:
The research homepage serves as the canonical entry point for my work and provides stable references to publications, archived code, and ongoing research activities.