Walking Pattern Generation Method with Feedforward and Feedback Control for Humanoid Robots

Title
Walking Pattern Generation Method with Feedforward and Feedback Control for Humanoid Robots
Authors
홍석민오용환김도익나성권유범재
Keywords
Walking Pattern; Humanoid; ZPETC
Issue Date
2009-09
Publisher
The 18th IEEE Int. Symposium on Robot and Human Interactive Communication
Citation
, 263-268
Abstract
This paper proposes a new walking pattern generation method for humanoid robots. This paper uses the linear inverted pendulum model (LIPM) which is composed of zero moment point (ZMP) and center of mass (CoM). Based on LIPM, the proposed method consists of feedforward control and feedback control for walking pattern generation of humanoid robots. The linear quadratic regulator(LQR) as a feedback controller tracks the desired ZMP according to footprints of humanoid robots and makes poles of LIPM stable. The feedback controller, pole-zero cancelation by series approximation (PZCSA) plays a role of reducing the inherent property of LIPM and approximating the transfer function of the overall system including LIPM and controllers to be unity. The usefulness of the proposed method is verified by simulations such as arbitrary time intervals of support phases, arbitrary desired ZMP position and sudden changed desired ZMP position. And the validity of the proposed method is confirmed by the experiment of a humanoid robot using a joystick.
URI
http://pubs.kist.re.kr/handle/201004/36821
Appears in Collections:
KIST Publication > Conference Paper
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