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Modification of foot placement for balancing using a preview controller based humanoid walking algorithm

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (2014) 8371 LNAI 420-431
DOI: 10.1007/978-3-662-44468-9_37
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Abstract

Lunges are an important utility to regain balance under strong perturbed biped walking motions. This paper presents a method to calculate the modifications of predefined foot placements with the objective to minimize deviations of the Zero Moment Point from a reference. The modification can be distributed over different points in time to execute smaller lunges, and an arbitrary point in time can be chosen. The calculation is in closed-form, and is embedded into a well-evaluated preview controller with observer based on the 3D Linear Inverted Pendulum Mode (3D-LIPM). © 2014 Springer-Verlag Berlin Heidelberg.

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Urbann, O., & Hofmann, M. (2014). Modification of foot placement for balancing using a preview controller based humanoid walking algorithm. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8371 LNAI, pp. 420–431). Springer Verlag. https://doi.org/10.1007/978-3-662-44468-9_37

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