Fourier series learning of biped walking motion

A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion. In the learning controller, t...

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Bibliographic Details
Main Authors: Kuc, T.Y., Baek, S.M., Lee, H.G., Kim, J.O.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Adaptative systems
Adaptive control
Applied sciences
Artificial intelligence
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Fourier series
Learning and adaptive systems
Legged locomotion
Motion control
Nonlinear dynamical systems
Robot control
Three-term control
Torque control
Transient response
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Description
Summary:A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion. In the learning controller, the PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. The proposed learning control scheme is shown to be effective through a computer simulation with a 12-DOF biped robot.
ISSN:2158-9860
2158-9879
DOI:10.1109/ISIC.2002.1157737