Learning of torque pattern generator for locomotion based on balance control

Satoshi Ito; Yoshihisa Saka; Haruhisa Kasasaki

doi:10.11499/sicep.2004.0_2_5

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_2_5

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Learning of torque pattern generator for locomotion based on balance control

*Satoshi Ito, Yoshihisa Saka, Haruhisa Kasasaki

Author information

Keywords: locomotion, learining, pattern generation

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 2

Details

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.

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