Robust l_∞ preview control for biped walking pattern generation

摘要

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.