Residential College | false |
Status | 已發表Published |
A UKF-based predictable SVR learning controller for biped walking | |
Wang,Liyang1; Liu,Zhi2; Chen,Philip3; Zhang,Yun2; Lee,Sukhan4; Chen,Xin5 | |
2013 | |
Source Publication | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
ABS Journal Level | 3 |
ISSN | 2168-2216 |
Volume | 43Issue:6Pages:1440-1450 |
Abstract | An 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. |
Keyword | Biped Robot Gait Control Learning Control State Prediction Support Vector Regression (Svr) Unscented Kalman Filter (Ukf) |
DOI | 10.1109/TSMC.2013.2242887 |
URL | View the original |
Indexed By | SCIE |
Language | 英語English |
WOS Research Area | Automation & Control Systems ; Computer Science |
WOS Subject | Automation & Control Systems ; Computer Science, Cybernetics |
WOS ID | WOS:000326499800014 |
Publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC445 HOES LANE, PISCATAWAY, NJ 08855-4141 |
Scopus ID | 2-s2.0-84897026343 |
Fulltext Access | |
Citation statistics | |
Document Type | Journal article |
Collection | University of Macau |
Corresponding Author | Wang,Liyang |
Affiliation | 1.Guangdong University of Technology, Guangzhou, Guangdong, CN 2.Department of Automation, Guangdong University of Technology, Guangzhou, China 3.Faculty of Science and Technology, University of Macau, Macao, China 4.School of Information and Communication, Sungkyunkwan University, Suwon, South Korea 5.Department of Mechatronics Engineering, Guangdong University of Technology, Guangzhou, 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. |
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