General ZMP Preview Control for Bipedal Walking

200777 citationsJournal Article

Authors

Jonghoon Park · Korea Institute of Robot and Convergence

Youngil Youm · Pohang University of Science and Technology

Abstract

An online pattern generator for bipedal walking control is designed based on the notion of ZMP preview control using the full dynamics model. The method is called the general ZMP preview control. Conventional implementation by Kajita is based on an approximated table-cart model, which neglects the actual system dynamics. This leads to erroneous ZMP tracking for real robots, even if the system tracks the generated COM pattern exactly. Numerical simulations are provided to show the advantage and character of the method

Topics & Keywords

Robotic Locomotion and Control Biomimetic flight and propulsion mechanisms Control and Dynamics of Mobile Robots

Publication Details

Published in: Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI: 10.1109/robot.2007.363870

Field-Weighted Citation Impact: 3.39

Command Palette

General ZMP Preview Control for Bipedal Walking

Authors

Abstract

Topics & Keywords

Publication Details