Title :
General ZMP Preview Control for Bipedal Walking
Author :
Park, Jonghoon ; Youm, Youngil
Author_Institution :
Pohang Inst. of Intelligent Robotics
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363870
