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Preview Control applied for humanoid robot motion generation

Szumowski Maksymilian, Żurawska Magdalena Sylwia, Zielińska Teresa

Archives of Control Sciences

2019

Vol. 29, No. 1

111--132

This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.