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Biped walking pattern generation by using preview control of zero-moment point

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7 Author(s)
Kajita, S. ; Nat. Inst. of Adv. Ind. Sci & Technol., Tsukuba, Japan ; Kanehiro, F. ; Kaneko, K. ; Fujiwara, K.
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We introduce a new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design of a ZMP tracking servo controller. It is shown that we can realize such controller by adopting the preview control theory that uses the future reference. It is also shown that a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model. The effectiveness of the proposed method is demonstrated by a simulation of walking on spiral stairs.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:2 )

Date of Conference:

14-19 Sept. 2003