Quantification of Preview Control Walking Pattern Generation by Center of Mass Tracking of a Four-Link Inverted Pendulum
نویسندگان
چکیده
iii
منابع مشابه
Energy Dissipation Rate Control Via a Semi-Analytical Pattern Generation Approach for Planar Three-Legged Galloping Robot based on the Property of Passive Dynamic Walking
In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...
متن کاملOmnidirectional Walking Using ZMP and Preview Control for the NAO Humanoid Robot
Fast-paced dynamic environments like robot soccer require highly responsive and dynamic locomotion. We present an implementation of an omnidirectional ZMP-based walk engine for the Nao robot. Using a simple inverted pendulum model, a preview controller generates dynamically balanced center of mass trajectories. To enable path planning, we introduce a system of global and egocentric coordinate f...
متن کاملA Walking Pattern Generation Method for Humanoid Robots using Least Square Method and Quartic Polynomial
Humanoid robot has been developed for human’s convenience in the human environment. Humanoid robots like ASIMO, HRP, WABIAN and Johnnie were successively developed (Hirai et al., 1998; Yamaguchi et al., 1999; Kajita et al., 2003; Löffler et al, 2003). Researches on humanoid have been done about balancing, walking pattern generation, motion generation, whole body cooperation and so on. In partic...
متن کاملBoundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model
In this paper, we solve the gait planning problem by using the Flexible LIP model, which has been shown to be more realistic w.r.t. the LIP for cost-effective or compliant biped robots for gait generation. We extend a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of numerical integration...
متن کاملEnhanced MO-PSO Preview Control of a Non-Linear Inverted Pendulum System
The use of advanced knowledge of reference can improve the tracking quality and performance of transient response of a control system and the systems using such information are called preview control systems. This paper explains the implementation of preview control methodology available in literature, i.e. DARE and LMI-based approaches for a non-linear system. The design of a multi-objective p...
متن کامل