Please use this identifier to cite or link to this item: https://doi.org/10.1017/S0263574709005608
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dc.titleTruncated Fourier series formulation for bipedal walking balance control
dc.contributor.authorYang, L.
dc.contributor.authorChew, C.-M.
dc.contributor.authorZheng, Y.
dc.contributor.authorPoo, A.-N.
dc.date.accessioned2014-06-17T06:37:25Z
dc.date.available2014-06-17T06:37:25Z
dc.date.issued2010-01
dc.identifier.citationYang, 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
dc.identifier.issn02635747
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/61627
dc.description.abstractThis 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1017/S0263574709005608
dc.sourceScopus
dc.subjectBalance control
dc.subjectReinforcement learning
dc.subjectTruncated Fourier series
dc.subjectVariable speed walking
dc.typeArticle
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1017/S0263574709005608
dc.description.sourcetitleRobotica
dc.description.volume28
dc.description.issue1
dc.description.page81-96
dc.description.codenROBOD
dc.identifier.isiut000274231700008
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