Title :
Robot experiment of torque learning for biped balance with respect to periodic external force
Author :
Ito, Satoshi ; Moriki, Kohei ; Kawasaki, Haruhisa ; Sasaki, Minoru
Author_Institution :
Fac. of Eng., Gifu Univ., Nagoya
Abstract :
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
Keywords :
feedforward; learning (artificial intelligence); legged locomotion; mechanoception; torque control; balance control; biped balance; feedforward balancing; periodic external force; robot experiment; torque pattern learning; Animals; Feedback control; Force control; Force feedback; Humans; Indium tin oxide; Learning systems; Motion control; Robots; Torque control;
Conference_Titel :
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-9178-0
DOI :
10.1109/ICAR.2005.1507444