• DocumentCode
    505151
  • 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
  • fYear
    2009
  • fDate
    18-21 Aug. 2009
  • Firstpage
    56
  • Lastpage
    60
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    ICCAS-SICE, 2009
  • Conference_Location
    Fukuoka
  • Print_ISBN
    978-4-907764-34-0
  • Electronic_ISBN
    978-4-907764-33-3
  • Type

    conf

  • Filename
    5335318
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=505151