제어로봇시스템학회:학술대회논문집
- 2000.10a
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- Pages.538-538
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- 2000
A Learning Controller for Repetitive Gate Control of Biped Walking Robot
이족 보행 로봇의 반복 걸음새 제어를 위한 학습 제어기
Abstract
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.