제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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- Pages.538-538
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- 2000
이족 보행 로봇의 반복 걸음새 제어를 위한 학습 제어기
A Learning Controller for Repetitive Gate Control of Biped Walking Robot
초록
This paper presents a learning controller for repetitive gate control of biped robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of teaming control to biped robotic motion is shown via dynamic simulation with 12 dof biped robot.