A learning controller for repetitive gait control of biped walking robot

被引：0

作者：

Kho, JW ^{[1
]}

Lim, DC ^{[1
]}

机构：

[1] Yuhan Coll, Puchon, Gyeonggi Do, South Korea

来源：

SICE 2004 ANNUAL CONFERENCE, VOLS 1-3 | 2004年

关键词：

biped walking robot; dynamic walking; learning control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

引用

页码：885 / 889

页数：5

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