A Learning Controller for Repetitive Gait Control of Biped Walking Robot

Jae-Won Kho; Dong-Cheol Lim

doi:10.11499/sicep.2004.0.45.1

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0.45.1

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

A Learning Controller for Repetitive Gait Control of Biped Walking Robot

*Jae-Won Kho, Dong-Cheol Lim

Author information

Keywords: biped walking robot, dynamic walking, learning control

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 45

Details

Abstract

This paper presents a learning controller for repetitive gait control of biped 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.

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