Scholz, Dorian ; Kurowski, Stefan ; Radkhah, Kathayon ; Stryk, Oskar von ; Stryk, Oskar von (2011)
Bio-inspired motion control of the musculoskeletal BioBiped1 robot based on a learned inverse dynamics model.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Based on the central hypothesis that a humanoid robot with human-like walking and running performance requires a bio-inspired embodiment of the musculoskeletal functions of the human leg as well as of its control structure, a bio-inspired approach for joint position control of the BioBiped1 robot is presented in this paper. This approach combines feedforward and feedback control running at 1 kHz and 40 Hz, respectively. The feed-forward control is based on an inverse dynamics model which is learned using Gaussian process regression to account for the robot’s body dynamics and external influences. For evaluation the learned model is used to control the robot purely feed-forward as well as in combination with a slow feedback controller. Both approaches are compared to a basic feedback PD-controller with respect to their tracking ability in experiments. It is shown, that the combined approach yields good results and outperforms the basic feedback controller when applied to the same set-point trajectories for the leg joints.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2011 |
| Autor(en): | Scholz, Dorian ; Kurowski, Stefan ; Radkhah, Kathayon ; Stryk, Oskar von ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Bio-inspired motion control of the musculoskeletal BioBiped1 robot based on a learned inverse dynamics model |
| Sprache: | Englisch |
| Publikationsjahr: | Oktober 2011 |
| Buchtitel: | Proc. 11th IEEE-RAS Int. Conf. on Humanoid Robots (HUMANOIDS) |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Based on the central hypothesis that a humanoid robot with human-like walking and running performance requires a bio-inspired embodiment of the musculoskeletal functions of the human leg as well as of its control structure, a bio-inspired approach for joint position control of the BioBiped1 robot is presented in this paper. This approach combines feedforward and feedback control running at 1 kHz and 40 Hz, respectively. The feed-forward control is based on an inverse dynamics model which is learned using Gaussian process regression to account for the robot’s body dynamics and external influences. For evaluation the learned model is used to control the robot purely feed-forward as well as in combination with a slow feedback controller. Both approaches are compared to a basic feedback PD-controller with respect to their tracking ability in experiments. It is shown, that the combined approach yields good results and outperforms the basic feedback controller when applied to the same set-point trajectories for the leg joints. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 15 Mär 2019 09:58 |
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