Regularity in an environment produces an internal torque pattern for biped balance control
Regularity in an environment produces an internal torque pattern for biped balance control
复制标题
环境中的规律性会产生用于两足平衡控制的内部扭矩模式
作者：
S. Ito;H. Kawasaki
Abstract.In this paper, we present a control method for achieving biped static balance under unknown periodic external forces whose periods are only known. In order to maintain static balance adaptively in an uncertain environment, it is essential to have information on the ground reaction forces. However, when the biped is exposed to a steady environment that provides an external force periodically, uncertain factors on the regularity with respect to a steady environment are gradually clarified using learning process, and finally a torque pattern for balancing motion is acquired. Consequently, static balance is maintained without feedback from ground reaction forces and achieved in a feedforward manner.
影响因子：
2.5
作者：
HORAK, FB;NASHNER, LM
通讯作者：
NASHNER, LM