Hong, Seokmin Oh, Yonghwan Kim, Doik You, Bum-Jae 2024-01-19T13:08:23Z 2024-01-19T13:08:23Z 2022-03-07 2009 https://pubs.kist.re.kr/handle/201004/116062 This paper proposes a new walking pattern generation method for humanoid robots. The proposed method consists of feedforward control and feedback control for walking pattern generation. The pole placement method as a feedback controller changes the poles of system in order to generate more stable and smoother walking pattern. The advanced pole-zero cancelation by series approximation(PZCSA) as a feedforward controller plays a role of reducing the inherent property of linear inverted pendulum model (LIPM), that is, non-minimum phase property due to an unstable zero of LIPM and tracking efficiently the desired zero moment point (ZMP). The efficiency of the proposed method is verified by three simulations such as arbitrary walking step length, arbitrary walking phase time and sudden change of walking path. English IEEE A Walking Pattern Generation Method with Feedback and Feedforward Control for Humanoid Robots Conference 10.1109/IROS.2009.5354092 1 IEEE RSJ International Conference on Intelligent Robots and Systems, pp.1078 - 1083 IEEE RSJ International Conference on Intelligent Robots and Systems 1078 1083 US St Louis, MO 2009-10-10 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 000285372900182 2-s2.0-76249102390 Proceedings Paper