Phase-indexed ILC for control of underactuated walking robots

• Published in: 2015 IEEE Conference on Control Applications (CCA) pp. 1467 - 1472
• Main Authors: Kong, Felix H., Boudali, A. Mounir, Manchester, Ian R.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.09.2015
• Subjects: Dynamics; Feedforward neural networks; Legged locomotion; PD control; Robot kinematics; Torque

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...