Implementation of an Intelligent Learning Controller for Gait Control of Biped Walking Robot

이족보행로봇의 걸음새 제어를 위한 지능형 학습 제어기의 구현

  • 임동철 (두원공과대학 디스플레이공학계열) ;
  • 국태용 (성균관대학교 정보통신공학부)
  • Published : 2010.03.01


This paper presents an intelligent learning controller for repetitive walking motion of biped walking robot. The proposed learning controller consists of an iterative learning controller and a direct learning controller. In the iterative learning controller, the PID feedback controller takes part in stabilizing the learning control system while the feedforward learning controller plays a role in compensating for the nonlinearity of uncertain biped walking robot. In the direct learning controller, the desired learning input for new joint trajectories with different time scales from the learned ones is generated directly based on the previous learned input profiles obtained from the iterative learning process. The effectiveness and tracking performance of the proposed learning controller to biped robotic motion is shown by mathematical analysis and computer simulation with 12 DOF biped walking robot.


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