A theoretical framework for stability regions for standing balance of humanoids based on their LIPM treatment
The aim of this paper is to construct a theoretical framework for stability analysis relevant to
standing balance of humanoids on top of the linear inverted pendulum model, in which their …
standing balance of humanoids on top of the linear inverted pendulum model, in which their …
Control strategy switching for humanoid robots based on maximal output admissible set
K Yamamoto - Robotics and Autonomous Systems, 2016 - Elsevier
Human-like bipedal walking is a goal of humanoid robotics. It is especially important to
provide a robust falling prevention capability by imitating the human ability to switch …
provide a robust falling prevention capability by imitating the human ability to switch …
Set of admissible reference signals and control of systems with state and control constraints
This paper considers characterization of the set of reference signals which are'safe'for the
systems with pointwise-in-time state and control constraints. The main idea is to construct …
systems with pointwise-in-time state and control constraints. The main idea is to construct …
Maximal output admissible set for trajectory tracking control of biped robots and its application to falling avoidance control
K Yamamoto - 2013 IEEE/RSJ International Conference on …, 2013 - ieeexplore.ieee.org
Humanoid robots have been considered as a universal machine which can operate in place
of human. This kind of universal machine requires human-like biped walking capability. In …
of human. This kind of universal machine requires human-like biped walking capability. In …
On-line reference management for discrete-time servo systems under state and control constraints
Y Ohta, K Mori, K Yukimoto… - 31st Annual Conference of …, 2005 - ieeexplore.ieee.org
This paper proposes a method of discrete time servo systems design and on-line
management of reference signals so as not to violate state and control constraints. The …
management of reference signals so as not to violate state and control constraints. The …
/spl epsiv/-feasible approximation of the state reachable set for discrete-time systems
K Hirata, Y Ohta - … Conference on Decision and Control (IEEE …, 2003 - ieeexplore.ieee.org
This paper considers an approximation problem of the state reachable set for linear discrete-
time systems with unknown but bounded exogenous inputs. A simple recursive procedure …
time systems with unknown but bounded exogenous inputs. A simple recursive procedure …
Multimode switching state feedback control of constrained linear discrete-time systems
A piecewise-linear state feedback control law for systems with constraints, based on the
theory of maximal CPI set, is derived. The control law increases the feedback gain in a …
theory of maximal CPI set, is derived. The control law increases the feedback gain in a …
A performance improving off-line reference management for systems with state and control constraints
This paper considers an off-line reference management technique for systems with state and
control constraints. The benefits of the approach are to guaranteeing the satisfaction of the …
control constraints. The benefits of the approach are to guaranteeing the satisfaction of the …
Robust receding horizon control for piecewise linear systems based on constrained positively invariant
This paper considers receding horizon control for constrained piecewise linear systems with
the unknown bounded disturbance. The proposed robust receding horizon control is …
the unknown bounded disturbance. The proposed robust receding horizon control is …
Systems with state and control constraints
Considers measurement feedback switching control of systems with state and control
constraints. Prior works have proved that switching control strategies have ability to resolve …
constraints. Prior works have proved that switching control strategies have ability to resolve …