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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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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|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 12:52|
|Last Modified:||11 Aug 2011 01:07|
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