论文信息 - Mixed l2/l∞ preview control for biped walking pattern generation

Mixed l2/l∞ preview control for biped walking pattern generation

In this paper, we propose mixed l<inf>2</inf>/l<inf>∞</inf> preview control for biped walking pattern generation. First, we propose the mixed l<inf>2</inf>/l<inf>∞</inf> 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 l<inf>2</inf>/l<inf>∞</inf> 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.

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