Please use this identifier to cite or link to this item:
https://doi.org/10.1109/ICSMC.2007.4413595
DC Field | Value | |
---|---|---|
dc.title | Autonomous bipedal walking pace supervision under perturbations | |
dc.contributor.author | Yang, L. | |
dc.contributor.author | Chew, C.-M. | |
dc.contributor.author | Poo, A.-N. | |
dc.date.accessioned | 2014-06-19T05:32:30Z | |
dc.date.available | 2014-06-19T05:32:30Z | |
dc.date.issued | 2007 | |
dc.identifier.citation | Yang, L., Chew, C.-M., Poo, A.-N. (2007). Autonomous bipedal walking pace supervision under perturbations. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics : 765-770. ScholarBank@NUS Repository. https://doi.org/10.1109/ICSMC.2007.4413595 | |
dc.identifier.isbn | 1424409918 | |
dc.identifier.issn | 1062922X | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/73217 | |
dc.description.abstract | This paper presented a method of bipedal walking pace supervision by the adjustment of stride-frequency and step-length simultaneously. A reinforcement learning algorithm is designed to learn the walking stride-frequency; A transition plan aims to adjust the step-length or update motion phases according to the dynamic feedback; A momentum based estimation gives another layer of stride-frequency adjustment when the learning agent has not gained enough experiences. Simulation experiments showed this learning based motion supervision is effective for maintaining stable walking under perturbations with a balanced performance of energy consumption and robustness. ©2007 IEEE. | |
dc.description.uri | http://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/ICSMC.2007.4413595 | |
dc.source | Scopus | |
dc.type | Conference Paper | |
dc.contributor.department | MECHANICAL ENGINEERING | |
dc.description.doi | 10.1109/ICSMC.2007.4413595 | |
dc.description.sourcetitle | Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics | |
dc.description.page | 765-770 | |
dc.description.coden | PICYE | |
dc.identifier.isiut | 000255016300023 | |
Appears in Collections: | Staff Publications |
Show simple item record
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.