Learning control for a biped walking robot with a trunk
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 1771-1777
- https://doi.org/10.1109/iros.1993.583876
Abstract
The authors propose learning control methods for compensative trunk motion for a biped walking robot that has a trunk, based on the ZMP (zero moment point) stability criterion, for the cases of the ZMP being inside the stable region and outside the stable region, respectively. They have developed a biped walking robot with a ZMP measurement system and a support device. The results of computer simulation and learning control experiments confirm the convergence of the learning methods and the change of the convergence rate with the change of the weight coefficient. The learning control experiments for the case of the ZMP being outside the stable region show that even though the walking state of the robot itself changes, with the support of a human and by its learning with the ZMP and the support force, stable walking even without the support of a human ultimately is realized.Keywords
This publication has 8 references indexed in Scilit:
- Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surfacePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A control method for dynamic biped walking under unknown external forcePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Learning Control of Compensative Trunk Motion for Biped Walking Robot based on ZMP Stability Criterion.Journal of the Robotics Society of Japan, 1993
- Realization of Dynamic Biped Walking Stabilized with Trunk Motion Under Known External ForcePublished by Springer Nature ,1989
- Realization of biped locomotion by motion pattern learning.Journal of the Robotics Society of Japan, 1985
- The realization of dynamic walking by the biped walking robot WL-10RD.Journal of the Robotics Society of Japan, 1985
- Bettering operation of Robots by learningJournal of Robotic Systems, 1984
- Formation of High-Speed Motion Pattern of a Mechanical Arm by TrialTransactions of the Society of Instrument and Control Engineers, 1978