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Truncated Fourier series formulation for bipedal walking balance control

Published online by Cambridge University Press:  28 April 2009

Lin Yang ,
Chee-Meng Chew ,
Yu Zheng  and
Aun-Neow Poo
Lin Yang*
Affiliation:
Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore
Chee-Meng Chew
Affiliation:
Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore
Yu Zheng
Affiliation:
Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore
Aun-Neow Poo
Affiliation:
Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper studies the parameters contained in the truncated Fourier series (TFS) formulation for bipedal walking balance control. Using the TFS generated lateral motion reference, 3D bipedal walking can be directly achieved without any parameter adjustment. Furthermore, the potential of this TFS formulation for motion balance control has also been investigated. One more motion balance strategy is developed through the reinforcement learning, which adjusts the motion's reference trajectory according to the selected dynamic feedback in real time. Dynamic simulation results of the presented balance control method show that the resulting motion can be constrained periodical and long-distance 3D bipedal walking motions are achievable.

Keywords

Truncated Fourier seriesReinforcement learningBalance controlVariable speed walking
Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 81 - 96
Copyright
Copyright © Cambridge University Press 2009

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