A Learning Controller for Repetitive Gait Control of Biped Walking Robot

  • Kho, Jae-Won (Department of Computer Control, Yuhan College) ;
  • Lim, Dong-Cheol (Department of Electrical & Electronical Engineering, Sungkyunkwan University)
  • Published : 2004.08.25


This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, 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 learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.