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.
Administrators only | Request a copy from author
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.
Impact and interest:
Citation counts are sourced monthly from and citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
|Item Type:||Book Chapter|
|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 02:52|
|Last Modified:||14 Oct 2015 16:00|
Repository Staff Only: item control page