Nested preview control by utilizing virtual plane for biped walking pattern generation including COG up-down motion

Author

Shimmyo, Shuhei ; Ohnishi, Kouhei

Author_Institution

Dept. of Syst. Desing Eng., Keio Univ., Yokohama, Japan

fYear

2010

fDate

7-10 Nov. 2010

Firstpage

1571

Lastpage

1576

Abstract

This paper describes a nested preview control by utilizing virtual plane for biped walking pattern generation including Center Of Gravity (COG) up-down motion. A preview control is effective to generate the biped walking patterns online. We proposed a biped walking pattern generation in our past research. In the method, biped walking patterns including COG up-down motions were generated by using the preview control with the virtual plane. However, some Zero-Moment Point (ZMP) errors between ZMP references and ZMP outputs remain. This is because prospective information of the ZMP reference cannot be transformed to the virtual plane in the method. In this paper, the ZMP errors are therefore decreased by using a nested structure. Besides, 3-Dimensional (3D) walking is achieved in an experiment.

Keywords

legged locomotion; motion control; predictive control; virtual reality; 3-dimensional walking; COG up-down motions; biped walking pattern generation; nested preview control; virtual plane; zero moment point error; Aerospace electronics; Legged locomotion; Mathematical model; PD control; Three dimensional displays; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

Conference_Location

Glendale, AZ

ISSN

1553-572X

Print_ISBN

978-1-4244-5225-5

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2010.5675450

Filename

5675450