Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids
Kento Kawaharazuka,Yoshimoto Ribayashi,Akihiro Miki,Yasunori Toshimitsu,Temma Suzuki,Kei Okada,Masayuki Inaba,Kento Kawaharazuka,Yoshimoto Ribayashi,Akihiro Miki,Yasunori Toshimitsu,Temma Suzuki,Kei Okada,Masayuki Inaba
The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls may cause instability. In this study, to solve these problems, we propose a method of learning a correlation model among the joint angle, muscle tension, and mus...
