IEEE - Institute of Electrical and Electronics Engineers, Inc. - Iterative learning control for biped walking

2010 IEEE International Conference on Mechatronics and Automation (ICMA)

Author(s): Qi-Zhi Zhang ; Chee-Meng Chew ; Ya-Li Zhou ; Qiu-Ling Zhao ; Pei Li
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 August 2010
Conference Location: Xi'an, China, China
Conference Date: 4 August 2010
Page(s): 237 - 241
ISBN (CD): 978-1-4244-5141-8
ISBN (Paper): 978-1-4244-5140-1
ISSN (CD): 2152-7431
ISSN (Electronic): 2152-744X
ISSN (Paper): 2152-7431
DOI: 10.1109/ICMA.2010.5589075
Regular:

In this paper, an iterative learning control (ILC) approach is proposed for biped walking control. The biped robot is powered by applying an impulsive push along the stance leg just before the... View More

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