NDLI: Robot experiment of torque learning for biped balance with respect to periodic external force

Content Provider	IEEE Xplore Digital Library
Author	Ito, S. Moriki, K. Kawasaki, H. Sasaki, M.
Copyright Year	2005
Description	Author affiliation: Fac. of Eng., Gifu Univ., Nagoya (Ito, S.)
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
Sponsorship	Univ. of Washington IEEE Robotics and Autom. Soc. Microsoft Coroware Inc
Starting Page	418
Ending Page	423
File Size	635165
Page Count	6
File Format	PDF
ISBN	0780391780
DOI	10.1109/ICAR.2005.1507444
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Torque control Force control Force feedback Motion control Feedback control Animals Humans Indium tin oxide Learning systems
Content Type	Text
Resource Type	Article

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