Nested preview control by utilizing virtual plane for biped walking pattern generation including COG up-down motion

Shuhei Shimmyo, Kouhei Ohnishi

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
ページ1571-1576
ページ数6
DOI
出版ステータスPublished - 2010 12 1
イベント36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
継続期間: 2010 11 72010 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
国/地域United States
CityGlendale, AZ
Period10/11/710/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「Nested preview control by utilizing virtual plane for biped walking pattern generation including COG up-down motion」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル