Lab meeting Apr 17th 2013 (Bang-Cheng Wang): Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point

Presented by Bang-Cheng Wang

From Proceedings of the 2003 IEEE
International Conference on Robotics & Automation
Taipei, Taiwan, September 14-19, 2003.

Authors:
Shuuji KAJITA, Fumio KANEHIRO, Kenji KANEKO, Kiyoshi FUJIWARA,
Kensuke HARADA, Kazuhito YOKOI and Hirohisa HIRUKAWA

Abstract:
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 future reference. It is also shown
that a preview controller can be used to compensate
the ZMP error caused by the difference between a simple
model and the precise multibody model. The effectiveness
of the proposed method is demonstrated by a
simulation of walking on spiral stairs.

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