Biologically inspired joint control for a humanoid robot
Kee, Damien, Wyeth, Gordon, & Roberts, Jonathan (2004) Biologically inspired joint control for a humanoid robot. In Proceedings of IEEE Conference on Humanoid Robotics 2004, IEEE, Santa Monica, CA, pp. 385-396.
The GuRoo is a 1.2 m tall, 23 degree of freedom humanoid constructed at the University of Queensland for research into humanoid robotics. The key challenge being addressed by the GuRoo project is the development of appropriate learning strategies for control and coordination of the robot's many joints. The development of learning strategies is seen as a way to side-step the inherent intricacy of modeling a multi-DOF biped robot. This paper outlines the approach taken to generate an appropriate control scheme for the joints of the GuRoo. The paper demonstrates the determination of local feedback control parameters using a genetic algorithm. The feedback loop is then augmented by a predictive modulator that learns a form of feed-forward control to overcome the irregular loads experienced at each joint during the gait cycle. The predictive modulator is based on the CMAC architecture. Results from tests on the GuRoo platform show that both systems provide improvements in stability and tracking of joint control.
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|Item Type:||Conference Paper|
|Keywords:||feedback, feedfowards, genetic algorithms, humanoid robots, legged locomotion, predictive control|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Deposited On:||24 Jun 2010 11:21|
|Last Modified:||11 Aug 2011 03:06|
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