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

@article{Kajita2003BipedWP,
  title={Biped walking pattern generation by using preview control of zero-moment point},
  author={Shuuji Kajita and Fumio Kanehiro and Kenji Kaneko and Kiyoshi Fujiwara and Kensuke Harada and Kazuhito Yokoi and Hirohisa Hirukawa},
  journal={2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)},
  year={2003},
  volume={2},
  pages={1620-1626 vol.2}
}
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… CONTINUE READING

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