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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
ABS Journal Level3
ISSN2168-2216
Volume43Issue: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.

KeywordBiped Robot Gait Control Learning Control State Prediction Support Vector Regression (Svr) Unscented Kalman Filter (Ukf)
DOI10.1109/TSMC.2013.2242887
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000326499800014
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC445 HOES LANE, PISCATAWAY, NJ 08855-4141
Scopus ID2-s2.0-84897026343
Fulltext Access
Citation statistics
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorWang,Liyang
Affiliation1.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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