Biped walking pattern generation by using preview control of zero-moment point
Top Cited Papers
- 2 March 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (10504729) , 1620-1626 vol.2
- https://doi.org/10.1109/robot.2003.1241826
Abstract
We introduce a new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design of a ZMP tracking servo controller. It is shown that we can realize such controller by adopting the preview control theory that uses the future reference. It is also shown that a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model. The effectiveness of the proposed method is demonstrated by a simulation of walking on spiral stairs.Keywords
This publication has 15 references indexed in Scilit:
- Design of prototype humanoid robotics platform for HRPPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A realtime pattern generator for biped walkingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surfacePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The development of Honda humanoid robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Real-time 3D walking pattern generation for a biped robot with telescopic legsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Design of an optimal controller for a discrete-time system subject to previewable demandInternational Journal of Control, 1985
- On the Optimal Digital State Vector Feedback Controller With Integral and Preview ActionsJournal of Dynamic Systems, Measurement, and Control, 1979
- On the stability of anthropomorphic systemsMathematical Biosciences, 1972
- Optimal Servosystem Utilizing Future Value of Desired FunctionTransactions of the Society of Instrument and Control Engineers, 1969
- Three Models of Preview ControlIEEE Transactions on Human Factors in Electronics, 1966