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Author You, Yue
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Description Problem description: Based on simplified dynamics models[1], bipedal walking pattern can be generated online flexibly. Several approaches have been proposed in recently years, such as preview controller based on zero-moment point dynamics[2] and capture point (CP) controller[3]. These online approaches have a comment drawback that the tracking performance of the reference trajectory is decreased due to the model inconsistency. Recently an online iterative learning control (ILC) approach has been proposed to resolve this problem, which has addition advantages, such as model free, online adaptivity[4]. In this Forschungspraxis the student is going to transfer the ILC control to the CP controller. Work schedule: • Study the related literature (1 week). • Implement the ILC algorithm in simulation (7 weeks). • Documentation (1 week) Bibliography: [1] Kajita, Shuuji and Kanehiro, Fumio and Kaneko, Kenji and Yokoi, Kazuhito and Hirukawa, Hi-rohisa. The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Institution Software Technology Conference 2004. — David A. Cook, Ph.D