이족 보행 로봇의 반복 걸음새 제어를 위한 학습제어기의 구현

Implementation of a Learning Controller for Repetitive Gate Control of Biped Walking Robot

This paper present 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 learning control to biped robotic motion is shown via dynamic simulation and experimental results with 24 DOF biped robot.