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l<inf>∞</inf> preview control for biped walking pattern generation
Description
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.
Journal
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- 2008 SICE Annual Conference
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2008 SICE Annual Conference 1916-1919, 2008-08-01
IEEE
