Walking pattern generation for humanoid robots with LQR and feedforward control method

Seokmin Hong, Yonghwan Oh, Young Hwan Chang, Bum Jae You

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

5 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages1698-1703
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: Nov 10 2008Nov 13 2008

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period11/10/0811/13/08

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Hong, S., Oh, Y., Chang, Y. H., & You, B. J. (2008). Walking pattern generation for humanoid robots with LQR and feedforward control method. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 1698-1703). [4758209] https://doi.org/10.1109/IECON.2008.4758209