Adaptive periodic movement control for the four legged walking machine BISAM

Author

Ilg, W. ; Albiez, J. ; Jedele, H. ; Berns, K. ; Dillmann, R.

Author_Institution

Interactive Diagnosis- and Servicesyst., Forschungszentrum Inf. Karlsruhe, Germany

Volume

3

fYear

1999

fDate

1999

Firstpage

2354

Abstract

Presents an adaptive control architecture for the four legged walking machine BISAM. This architecture uses coupled neuro-oscillators as representation of periodic behaviours on different control levels such as joint movement, leg control and leg coordination. Coupled neuro-oscillators together with adaptive sensor based reflexes provide a robust and efficient representation for quadrupedal locomotion and support the use of online learning approaches to realize adaptation and optimization of locomotion behaviours

Keywords

adaptive control; learning (artificial intelligence); legged locomotion; motion control; neurocontrollers; periodic control; robust control; BISAM; adaptive control architecture; adaptive periodic movement control; coupled neuro-oscillators; four legged walking machine; joint movement; leg control; leg coordination; locomotion behaviours; online learning; quadrupedal locomotion; Adaptive control; Biological control systems; Computer architecture; Learning systems; Leg; Legged locomotion; Machine learning; Programmable control; Robot kinematics; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770457

Filename

770457