Biped walking pattern generation by using preview control with virtual plane method

Shuhei Shimmyo, Tomoya Sato, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper describes a biped walking pattern generation by using preview control with virtual plane method. It is important for biped robots to generate desired walking patterns which satisfy given Zero-Moment-Point (ZMP) trajectories. Solving ZMP equation is one of the key issues in the biped walking research field. Many kinds of the solutions have ever been proposed. One of the most efficient solutions is using preview control to generate the walking patterns. However, conventional biped walking pattern generation by preview control cannot be applied to up-down motions of Center of Gravity (COG). Therefore, in this research, we propose a method that realizes walking pattern generation for moving the COG in vertical direction. The proposed method expands the versatility of walking pattern generation by using preview control. The effectiveness of the proposed method is confirmed by experimental results.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages414-419
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Shimmyo, S., Sato, T., & Ohnishi, K. (2010). Biped walking pattern generation by using preview control with virtual plane method. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 414-419). [5464096] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464096