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Robust l ∞ preview control for biped walking pattern generation

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Abstract

We propose a robust l ∞ preview control for the pattern generation of biped walking. First, we give the robust l ∞ preview control robustness against the initial value and apply it to the cart-table model. Next, we propose a method to reduce the conservativeness of the robust l ∞ preview control and an algorithm to solve it. Finally, the effectiveness of our proposed method is illustrated by a simulation.

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References

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Authors and Affiliations

  1. Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto, 860-8555, Japan

    Sadaaki Kunimatsu, Takahiro Fukuda, Makoto Kumon & Mitsuaki Ishitobi

Authors
  1. Sadaaki Kunimatsu
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  2. Takahiro Fukuda
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  3. Makoto Kumon
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  4. Mitsuaki Ishitobi
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Corresponding author

Correspondence to Sadaaki Kunimatsu.

Additional information

This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009

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Kunimatsu, S., Fukuda, T., Kumon, M. et al. Robust l ∞ preview control for biped walking pattern generation. Artif Life Robotics 14, 388–391 (2009). https://doi.org/10.1007/s10015-009-0691-0

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  • DOI: https://doi.org/10.1007/s10015-009-0691-0

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