IEEE - Institute of Electrical and Electronics Engineers, Inc. - Walking pattern generation for Humanoid robots with LQR and feedforward control method

IECON 2008 - 34th Annual Conference of IEEE Industrial Electronics Society

Author(s): Seokmin Hong ; Yonghwan Oh ; Young-Hwan Chang ; Bum-Jae You
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2008
Conference Location: Orlando, FL, USA
Conference Date: 10 November 2008
Page(s): 1,698 - 1,703
ISBN (CD): 978-1-4244-1766-7
ISBN (Paper): 978-1-4244-1767-4
ISSN (Paper): 1553-572X
DOI: 10.1109/IECON.2008.4758209
Regular:

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... View More

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