Phase-indexed ILC for control of underactuated walking robots
We propose a method for learning the nominal control input for virtual-constraints-based walking robots. The key problem in applying iterative learning control (ILC) to these systems is that the iterations are only approximately periodic. We develop a modified form of ILC that indexes previous itera...
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Published in | 2015 IEEE Conference on Control Applications (CCA) pp. 1467 - 1472 |
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Format | Conference Proceeding |
Language | English |
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01.09.2015
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Abstract | We propose a method for learning the nominal control input for virtual-constraints-based walking robots. The key problem in applying iterative learning control (ILC) to these systems is that the iterations are only approximately periodic. We develop a modified form of ILC that indexes previous iterations by a phase variable (a function of the state variables) rather than time. We show in experiments that the proposed method outperforms time-indexed ILC and a hybrid "resetting" form of ILC in terms of tracking error reduction and stability. |
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AbstractList | We propose a method for learning the nominal control input for virtual-constraints-based walking robots. The key problem in applying iterative learning control (ILC) to these systems is that the iterations are only approximately periodic. We develop a modified form of ILC that indexes previous iterations by a phase variable (a function of the state variables) rather than time. We show in experiments that the proposed method outperforms time-indexed ILC and a hybrid "resetting" form of ILC in terms of tracking error reduction and stability. |
Author | Boudali, A. Mounir Manchester, Ian R. Kong, Felix H. |
Author_xml | – sequence: 1 givenname: Felix H. surname: Kong fullname: Kong, Felix H. email: f.kong@acfr.usyd.edu.au organization: Sch. of Aeronaut., Mech. & Mechatron. Eng., Univ. of Sydney, Sydney, NSW, Australia – sequence: 2 givenname: A. Mounir surname: Boudali fullname: Boudali, A. Mounir email: m.boudali@acfr.usyd.edu.au organization: Sch. of Aeronaut., Mech. & Mechatron. Eng., Univ. of Sydney, Sydney, NSW, Australia – sequence: 3 givenname: Ian R. surname: Manchester fullname: Manchester, Ian R. email: i.manchester@acfr.usyd.edu.au organization: Sch. of Aeronaut., Mech. & Mechatron. Eng., Univ. of Sydney, Sydney, NSW, Australia |
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CitedBy_id | crossref_primary_10_1016_j_mechatronics_2023_103016 crossref_primary_10_1016_j_ifacol_2019_11_738 crossref_primary_10_1109_TRO_2018_2794536 crossref_primary_10_1109_ACCESS_2016_2582731 crossref_primary_10_1016_j_ifacol_2020_12_530 crossref_primary_10_1177_0278364917708249 |
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Snippet | We propose a method for learning the nominal control input for virtual-constraints-based walking robots. The key problem in applying iterative learning control... |
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SubjectTerms | Dynamics Feedforward neural networks Legged locomotion PD control Robot kinematics Torque |
Title | Phase-indexed ILC for control of underactuated walking robots |
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