ZMP based pattern generation for biped walking using Optimal Preview Integral Sliding Mode Control

@article{Williams2013ZMPBP,
  title={ZMP based pattern generation for biped walking using Optimal Preview Integral Sliding Mode Control},
  author={Markimba M. Williams and Alexander G. Loukianov and Eduardo Bayro-Corrochano},
  journal={2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
  year={2013},
  pages={100-105}
}
This paper describes a method for biped walking pattern generation by using discrete Optimal Preview Integral Sliding Mode Control (OPISMC) of the zero-moment point (ZMP). First, the 3D-linear inverted pendulum mode (3D-LIPM) model used to model biped dynamics is presented. The optimal preview controller that uses future ZMP reference information is designed to satisfy a linear quadratic performance index. The integral sliding mode control is then employed to robustify the optimal preview… CONTINUE READING

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