Adaptive feedback compensation control method for bipedal robot walking under continuous external disturbances

Li, Zijing; Zhang, Jinlin; Lu, Mengyue; Chi, Wanchao; Zhang, Chong; Zhang, Shenghao; Liu, Yuzhen; Gan, Chunbiao

doi:10.1007/s10409-024-24007-x

Acta Mech. Sin.

2024

DOI: 10.1007/s10409-024-24007-x

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Adaptive feedback compensation control method for bipedal robot walking under continuous external disturbances

Zijing Li,

Jinlin Zhang,

Mengyue Lu

et al.

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Conditional Adversarial Motion Priors by a Novel Retargeting Method for Versatile Humanoid Robot Control

Zhang,

Li,

et al. 2024

Adaptive Control & Signal

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Significant advancements have been made in the field of humanoid robot, particularly in walking control strategies. However, achieving straight‐legged walking remains a challenge. Both the traditional model‐based and the learning‐based control methods confront with difficulties in achieving natural humanoid gait feature. To address this issue, a general motion retargeting method is developed and also evaluated for humanoid robots with different structure, size and degrees of freedom. Moreover, a conditional adversarial motion priors method is proposed based on reinforcement learning and validated on the humanoid robot GTX‐III. Through various motion segments from the motion capture database, it is shown that this method can successfully enable the humanoid robot to perform straight‐legged walking with flexible and natural transitions between different gaits within a single discriminator network.

show abstract

Conditional Adversarial Motion Priors by a Novel Retargeting Method for Versatile Humanoid Robot Control

Zhang,

Li,

et al. 2024

Adaptive Control & Signal

View full text Add to dashboard Cite

show abstract

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Adaptive feedback compensation control method for bipedal robot walking under continuous external disturbances

Cited by 1 publication

References 23 publications

Conditional Adversarial Motion Priors by a Novel Retargeting Method for Versatile Humanoid Robot Control

Conditional Adversarial Motion Priors by a Novel Retargeting Method for Versatile Humanoid Robot Control

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