Balance control analysis of humanoid robot based on ZMP feedback control

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2002, Pages 2437-2442

  Napoleon, ^a   Nakaura, Shigeki ^a   Sampei, Mitsuji ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; FEEDBACK CONTROL; FREQUENCY DOMAIN ANALYSIS; OPTIMAL CONTROL SYSTEMS; POSITION CONTROL; SYSTEM STABILITY; TIME DOMAIN ANALYSIS;

BALANCE CONTROL ANALYSIS; HUMANOID ROBOT; LINEAR QUADRATIC; ZERO MOMENT POINT;

MOBILE ROBOTS;

EID: 0036448835     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

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2. A. Goswami: "Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point", The International Journal of Robotics Research, Vol. 18, No. 6, pp. 523-533, 1999.
3. J.C. Doyle, B.A. Francis, A.R. Tannenbaum: "Feedback Control Theory", MacMillan Publishing Company, 1992.
4. T. Kailath: "Linear System", Prentice-Hall, 1980.
5. J. Chen: "Sensitivity Integral Relations and Design Trade-Offs in Linear Multivariable Feedback Systems", IEEE Transaction on Automatic Control, Vol. 40, No. 10, pp. 1700-1716, 1995.
6. B.D.O. Anderson, J.B. Moore: "Linear Optimal Control", Prentice-Hall Inc., 1971.