Title :
Learning of torque pattern generator for locomotion based on balance control
Author :
Ito, Satoshi ; Saka, Yoshihisa ; Kawasaki, Hamhisa
Author_Institution :
Gifu Univ., Japan
Abstract :
In this paper, we consider a torque pattern learning during biped walking based on the feedback balance control. By learning, the torque profile of feedback controller is copied to feedforward controller consisting of the oscillator. Then, the ground reaction forces, which are essential to behave in uncertain environmental conditions, are not required. We simulate this process under some environmental conditions.
Keywords :
feedback; feedforward; learning (artificial intelligence); legged locomotion; position control; torque control; biped walking; environmental condition; feedback balance control; feedback controller; feedforward controller; ground reaction force; locomotion periodicity; oscillator; torque pattern generator; torque pattern learning;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
