• DocumentCode
    3157484
  • Title

    l∞ preview control for biped walking pattern generation

  • Author

    Kunimatsu, Sadaaki ; Fukuda, Takahiro ; Nakasaki, Kazuhide ; Ishitobi, Mitsuaki

  • Author_Institution
    Grad. Sch. of Sci. & Technol., Kumamoto Univ., Kumamoto
  • fYear
    2008
  • fDate
    20-22 Aug. 2008
  • Firstpage
    1916
  • Lastpage
    1919
  • Abstract
    We propose a new method of biped walking pattern generation by using linfin preview control. First, we state a method to transform linfin preview control into LMI(linear matrix inequality). Next, we apply linfin preview control to a cart-table model representing ZMP(zero moment point) of humanoid robots. Then, we propose linfin preview control with robustness against initial value and apply it to the cart-table model. Finally, the effectiveness of our proposed methods is illustrated by simulation.
  • Keywords
    humanoid robots; legged locomotion; linear matrix inequalities; pattern recognition; predictive control; biped walking pattern generation; cart-table model; humanoid robots; linear matrix inequality; linfin preview control; zero moment point; Acceleration; Control systems; Equations; Gravity; Humanoid robots; Leg; Legged locomotion; Linear matrix inequalities; Performance analysis; State-space methods; Biped walking pattern; LMI; Preview control; l∞ control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    SICE Annual Conference, 2008
  • Conference_Location
    Tokyo
  • Print_ISBN
    978-4-907764-30-2
  • Electronic_ISBN
    978-4-907764-29-6
  • Type

    conf

  • DOI
    10.1109/SICE.2008.4654974
  • Filename
    4654974
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3157484