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Mixed l<SUB>2</SUB> / l<SUB>∞</SUB> Preview Control for Biped Walking Pattern Generation
Sadaaki Kunimatsu,Takahiro Fukuda,Makoto Kumon,Mitsuaki Ishitobi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we propose mixed l2/l∞ preview control for biped walking pattern generation. First, we propose the mixed l2/l∞ preview control via BMI(Bilinear Matrix Inequality) optimization approach for the system representing ZMP of humanoid robots. Next, we derive a method optimizing the mixed l2/l∞ preview controller by transforming the BMI condition into an iterative LMI(Linear Matrix Inequality) condition. Finally, we show the effectiveness of our proposed method by simulation.