Title :
Learning a reactive posture control on the four-legged walking machine BISAM
Author :
Albiez, J. ; Ilg, W. ; Luksch, T. ; Berns, K. ; Dillmann, R.
Author_Institution :
Interactive Diagnosis- & Service Syst., Forschungszentrum Informatik Karlsruhe, Germany
Abstract :
Presents methods and experiments of adaptive posture control for a four legged walking machine. Starting from the analysis of the implemented movement behaviour of BISAM we identify adequate tasks for adaptive control components and present adaptive posture control mechanisms for statically stable and dynamically stable movements. The reflex-based posture control is implemented via fuzzy control and reinforcement learning. The integration of the posture control in the control architecture is also described
Keywords :
adaptive control; fuzzy control; learning (artificial intelligence); legged locomotion; position control; robot kinematics; BISAM four legged walking machine; adaptive posture control; dynamically stable movements; fuzzy control; reactive posture control; reflex-based posture control; reinforcement learning; statically stable movements; Adaptive control; Control systems; Fuzzy control; Hip; Leg; Legged locomotion; Machine learning; Motion control; Programmable control; Robot kinematics;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976299
