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.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=3157484
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