l_∞ preview control for biped walking pattern generation

摘要

We propose a new method of biped walking pattern generation by using l <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> preview control. First, we state a method to transform l <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> preview control into LMI(linear matrix inequality). Next, we apply l <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> preview control to a cart-table model representing ZMP(zero moment point) of humanoid robots. Then, we propose l <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> preview control with robustness against initial value and apply it to the cart-table model. Finally, the effectiveness of our proposed methods is illustrated by simulation.