TY - GEN
T1 - Biped walking pattern generation by using preview control with virtual plane method
AU - Shimmyo, Shuhei
AU - Sato, Tomoya
AU - Ohnishi, Kouhei
PY - 2010/6/25
Y1 - 2010/6/25
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77953786816&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2010.5464096
DO - 10.1109/AMC.2010.5464096
M3 - Conference contribution
AN - SCOPUS:77953786816
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 414
EP - 419
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -