DocumentCode
2626921
Title
General ZMP Preview Control for Bipedal Walking
Author
Park, Jonghoon ; Youm, Youngil
Author_Institution
Pohang Inst. of Intelligent Robotics
fYear
2007
fDate
10-14 April 2007
Firstpage
2682
Lastpage
2687
Abstract
An online pattern generator for bipedal walking control is designed based on the notion of ZMP preview control using the full dynamics model. The method is called the general ZMP preview control. Conventional implementation by Kajita is based on an approximated table-cart model, which neglects the actual system dynamics. This leads to erroneous ZMP tracking for real robots, even if the system tracks the generated COM pattern exactly. Numerical simulations are provided to show the advantage and character of the method
Keywords
legged locomotion; motion control; predictive control; robot dynamics; ZMP preview control; bipedal walking control; online pattern generator; walking dynamics; Automatic generation control; Error correction; Foot; Humanoid robots; Intelligent robots; Legged locomotion; Numerical simulation; Robot control; Robotics and automation; Temperature control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.363870
Filename
4209488
Link To Document