TY - GEN
T1 - Walking pattern generation for humanoid robots with LQR and feedforward control method
AU - Hong, Seokmin
AU - Oh, Yonghwan
AU - Chang, Young Hwan
AU - You, Bum Jae
PY - 2008
Y1 - 2008
N2 - This paper proposes new walking pattern method for the humanoid robots. The proposed method based on the inverted pendulum uses the zero moment point(ZMP) and the center of mass(CoM). And our approach consists of feedforward controller and feedback controller. As the feedforward controller, pole-zero cancellation by series approximation(PZCSA) control plays a role of reducing the inherent property of inverted pendulum model, that is, non-minimum phase property due to the unstable zero. As the feedback controller, linear quadratic regulator(LQR) is utilized for tracking effectively the desired ZMP according to footprints of the humanoid robots. The proposed method generates the walking pattern with the combination of LQR and PZCSA. The efficiency of the proposed method is verified by simulation of generating the walking pattern.
AB - This paper proposes new walking pattern method for the humanoid robots. The proposed method based on the inverted pendulum uses the zero moment point(ZMP) and the center of mass(CoM). And our approach consists of feedforward controller and feedback controller. As the feedforward controller, pole-zero cancellation by series approximation(PZCSA) control plays a role of reducing the inherent property of inverted pendulum model, that is, non-minimum phase property due to the unstable zero. As the feedback controller, linear quadratic regulator(LQR) is utilized for tracking effectively the desired ZMP according to footprints of the humanoid robots. The proposed method generates the walking pattern with the combination of LQR and PZCSA. The efficiency of the proposed method is verified by simulation of generating the walking pattern.
UR - http://www.scopus.com/inward/record.url?scp=63149103479&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2008.4758209
DO - 10.1109/IECON.2008.4758209
M3 - Conference contribution
AN - SCOPUS:63149103479
SN - 9781424417667
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1698
EP - 1703
BT - Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
PB - IEEE Computer Society
T2 - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Y2 - 10 November 2008 through 13 November 2008
ER -