Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A study on The Real-Time Implementation of Intelligent Control Algorithm for Biped Robot Stable Locomotion

2족 보행로봇의 안정된 걸음걸이를 위한 지능제어 알고리즘의 실시간 실현에 관한 연구

  • Received : 2015.09.23
  • Accepted : 2015.10.28
  • Published : 2015.11.30
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Abstract

In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

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References

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