TY - GEN
T1 - Nested preview control by utilizing virtual plane for biped walking pattern generation including COG up-down motion
AU - Shimmyo, Shuhei
AU - Ohnishi, Kouhei
PY - 2010/12/1
Y1 - 2010/12/1
N2 - This paper describes a nested preview control by utilizing virtual plane for biped walking pattern generation including Center Of Gravity (COG) up-down motion. A preview control is effective to generate the biped walking patterns online. We proposed a biped walking pattern generation in our past research. In the method, biped walking patterns including COG up-down motions were generated by using the preview control with the virtual plane. However, some Zero-Moment Point (ZMP) errors between ZMP references and ZMP outputs remain. This is because prospective information of the ZMP reference cannot be transformed to the virtual plane in the method. In this paper, the ZMP errors are therefore decreased by using a nested structure. Besides, 3-Dimensional (3D) walking is achieved in an experiment.
AB - This paper describes a nested preview control by utilizing virtual plane for biped walking pattern generation including Center Of Gravity (COG) up-down motion. A preview control is effective to generate the biped walking patterns online. We proposed a biped walking pattern generation in our past research. In the method, biped walking patterns including COG up-down motions were generated by using the preview control with the virtual plane. However, some Zero-Moment Point (ZMP) errors between ZMP references and ZMP outputs remain. This is because prospective information of the ZMP reference cannot be transformed to the virtual plane in the method. In this paper, the ZMP errors are therefore decreased by using a nested structure. Besides, 3-Dimensional (3D) walking is achieved in an experiment.
UR - http://www.scopus.com/inward/record.url?scp=78751523404&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2010.5675450
DO - 10.1109/IECON.2010.5675450
M3 - Conference contribution
AN - SCOPUS:78751523404
SN - 9781424452262
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1571
EP - 1576
BT - Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
T2 - 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Y2 - 7 November 2010 through 10 November 2010
ER -