Title :
Mixed l2/l∞ preview control for biped walking pattern generation
Author :
Kunimatsu, Sadaaki ; Fukuda, Takahiro ; Kumon, Makoto ; Ishitobi, Mitsuaki
Author_Institution :
Grad. Sch. of Sci. & Technol., Kumamoto Univ., Kumamoto, Japan
Abstract :
In this paper, we propose mixed l2/linfin preview control for biped walking pattern generation. First, we propose the mixed l2/linfin preview control via BMI (bilinear matrix inequality) optimization approach for the system representing ZMP of humanoid robots. Next, we derive a method optimizing the mixed l2/linfin preview controller by transforming the BMI condition into an iterative LMI(linear matrix inequality) condition. Finally, we show the effectiveness of our proposed method by simulation.
Keywords :
humanoid robots; iterative methods; legged locomotion; linear matrix inequalities; optimisation; predictive control; BMI; ZMP; bilinear matrix inequality optimization approach; biped walking pattern generation; humanoid robot; iterative LMI; mixed l2/linfin preview control; Acceleration; Control systems; Equations; Gravity; Humanoid robots; Leg; Legged locomotion; Linear matrix inequalities; Performance analysis; State-space methods; Biped walking pattern generation; Mixed l2/l∞ control; Preview control; iterative LMI;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
