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Cerebellar augmented joint control for a humanoid robot

Kee, Damien & Wyeth, Gordon (2005) Cerebellar augmented joint control for a humanoid robot. In Nardi, Daniele, Riedmiller, Martin, Claude, Sammut, & Santos-Victor, José (Eds.) RoboCup 2004 : Robot Soccer World Cup VIII. Springer Berlin / Heidelberg, pp. 347-357.

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    Abstract

    The joints of a humanoid robot experience disturbances of markedly different magnitudes during the course of a walking gait. Consequently, simple feedback control techniques poorly track desired joint trajectories. This paper explores the addition of a control system inspired by the architecture of the cerebellum to improve system response. This system learns to compensate the changes in load that occur during a cycle of motion. The joint compensation scheme, called Trajectory Error Learning, augments the existing feedback control loop on a humanoid robot. The results from tests on the GuRoo platform show an improvement in system response for the system when augmented with the cerebellar compensator.

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    ID Code: 37284
    Item Type: Book Chapter
    DOI: 10.1007/978-3-540-32256-6_28
    ISBN: 9783540250463
    ISSN: 0302-9743
    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)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2005 Springer-Verlag Berlin Heidelberg
    Deposited On: 28 Sep 2010 12:52
    Last Modified: 11 Aug 2011 01:07

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