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In this paper, we propose mixed l2/linfin preview control for biped walking pattern generation. First, we propose the mixed l2/linfin preview control via BMI (bilinear matrix inequality) optimization approach for the system representing ZMP of humanoid robots. Next, we derive a method optimizing the mixed l2/linfin preview controller by transforming the BMI condition into an iterative LMI(linear matrix inequality) condition. Finally, we show the effectiveness of our proposed method by simulation.
Date of Conference: 18-21 Aug. 2009