Walking pattern generation for humanoid robots with LQR and feedforward control method

IECON Proceedings (Industrial Electronics Conference)

Volumn , Issue , 2008, Pages 1698-1703

  Hong, Seokmin ^a,b   Oh, Yonghwan ^b   Chang, Young Hwan ^b   You, Bum Jae ^b  

^a University of Science and Technology (UST)   (South Korea)

^b Korea Institute of Science and Technology   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROLLERS; FEEDBACK; FEEDBACK CONTROL; FEEDFORWARD CONTROL; INDUSTRIAL ELECTRONICS; INTELLIGENT ROBOTS; NONLINEAR CONTROL SYSTEMS; PENDULUMS; ROBOTICS;

CENTER OF MASS; FEED-FORWARD CONTROLLERS; FEEDBACK CONTROLLERS; HUMANOID ROBOTS; INVERTED PENDULUM MODELS; INVERTED PENDULUMS; LINEAR-QUADRATIC REGULATORS; NON-MINIMUM PHASE; POLE-ZERO CANCELLATIONS; SERIES APPROXIMATIONS; WALKING PATTERN GENERATIONS; WALKING PATTERNS; ZERO MOMENT POINTS;

METHOD OF MOMENTS;

EID: 63149103479     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2008.4758209     Document Type: Conference Paper

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