UM
A UKF-based predictable SVR learning controller for biped walking
Wang,Liyang1; Liu,Zhi2; Chen,Philip3; Zhang,Yun2; Lee,Sukhan4; Chen,Xin5
2013
Source PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
ISSN1083-4427
Volume43Issue:6Pages:1440-1450
AbstractAn unscented Kalman filter (UKF)-based predictable support vector regression (SVR) learning controller is proposed to improve the flexibility of biped walking robots. After estimating the biped states of the next moment using a UKF, an SVR learning controller with the predicted biped states is implemented to ensure the zero moment point (ZMP) stability. Using the predicted biped states, the SVR learning controller can predictably adjust the posture of the trunk timely and properly to adapt to the dynamic posture of the whole body. The flexibility of biped robots is enhanced by the proposed method, which is promising for realizing the stable biped walking in unstructured environments. Simulation and experimental results demonstrate the superiority of the proposed methods. © 2013 IEEE.
KeywordBiped robot Gait control Learning control State prediction Support vector regression (SVR) Unscented Kalman filter (UKF)
DOI10.1109/TSMC.2013.2242887
URLView the original
Language英语
Fulltext Access
Citation statistics
Cited Times [WOS]:24   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Department of Automation,Guangdong University of Technology,Department of Electronic Engineering,Guangzhou 510006,China
2.Department of Automation,Guangdong University of Technology,Guangzhou 510006,China
3.Faculty of Science and Technology,University of Macau,Macao
4.School of Information and Communication,Sungkyunkwan University,Suwon 440746,South Korea
5.Department of Mechatronics Engineering,Guangdong University of Technology,Guangzhou 510006,China
Recommended Citation
GB/T 7714
Wang,Liyang,Liu,Zhi,Chen,Philip,et al. A UKF-based predictable SVR learning controller for biped walking[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2013,43(6):1440-1450.
APA Wang,Liyang,Liu,Zhi,Chen,Philip,Zhang,Yun,Lee,Sukhan,&Chen,Xin.(2013).A UKF-based predictable SVR learning controller for biped walking.IEEE Transactions on Systems, Man, and Cybernetics: Systems,43(6),1440-1450.
MLA Wang,Liyang,et al."A UKF-based predictable SVR learning controller for biped walking".IEEE Transactions on Systems, Man, and Cybernetics: Systems 43.6(2013):1440-1450.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wang,Liyang]'s Articles
[Liu,Zhi]'s Articles
[Chen,Philip]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wang,Liyang]'s Articles
[Liu,Zhi]'s Articles
[Chen,Philip]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wang,Liyang]'s Articles
[Liu,Zhi]'s Articles
[Chen,Philip]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.