Please use this identifier to cite or link to this item: https://doi.org/10.1017/S0263574709005608
Title: Truncated Fourier series formulation for bipedal walking balance control
Authors: Yang, L.
Chew, C.-M. 
Zheng, Y. 
Poo, A.-N. 
Keywords: Balance control
Reinforcement learning
Truncated Fourier series
Variable speed walking
Issue Date: Jan-2010
Source: Yang, L., Chew, C.-M., Zheng, Y., Poo, A.-N. (2010-01). Truncated Fourier series formulation for bipedal walking balance control. Robotica 28 (1) : 81-96. ScholarBank@NUS Repository. https://doi.org/10.1017/S0263574709005608
Abstract: 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. © 2009 Cambridge University Press.
Source Title: Robotica
URI: http://scholarbank.nus.edu.sg/handle/10635/61627
ISSN: 02635747
DOI: 10.1017/S0263574709005608
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

3
checked on Dec 14, 2017

WEB OF SCIENCETM
Citations

4
checked on Nov 18, 2017

Page view(s)

37
checked on Dec 17, 2017

Google ScholarTM

Check

Altmetric


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