Online Learning Feedback Control Considering Hysteresis for Musculoskeletal Structures
Kento Kawaharazuka,Kei Okada,Masayuki Inaba,Kento Kawaharazuka,Kei Okada,Masayuki Inaba
While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still an obstacle, and realizing target posture quickly and accurately has been difficult. Therefore, we develop a feedback control method considering the hysteresis...
