Robot experiment of torque learning for biped balance with respect to periodic external force

In this paper, we report robot experimental results of balance control and torque pattern learning under the influence of periodic external force. In the previous paper, we propose not only a control method for keeping balance based on the feedback of ground reaction forces but also a learning method of torque pattern for balancing in such a stationary environment as a periodic external force is exerted. In order to maintain the balance, the feedback of ground reaction forces is essential. As a result of learning, however, the information on them become unnecessary because the torque pattern for balancing is stored in the controller and thus the balancing is achieved in a feedforward manner. Here, we aim at verifying this control and learning scheme by experiments with a simple robot