Abstract
This paper proposes a humanoid robot's walking pattern generation method for starting swiftly by employing a feedforward controller together with a feedback controller. The proposed control scheme generates the stable walking pattern according to various walking path and shows to improve the frequency property of the carttable model which is used as a simplified humanoid robot model. However the proposed controller has a drawback such as time delay to generate the walking pattern. To overcome this problem and to reduce the time delay, we modify the desired ZMP. The efficiency of the proposed method is verified by simulations.
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