Adaptive Control Scheme with Parameter Adaptation - From Human Motor Control to Humanoid Robot Locomotion Control

Abstract

As the origin intention of humanoid robot is showing the possibility of the biped walking and explaining the principle, there are many common issues between human motor control and humanoid robot locomotion. This paper considers two major common issues of the two researches. First is modeling. Both in human dynamics simplification and humanoid dynamics modeling, we actively or passively choose parts of the variable states because of dynamics simplification and unmodeled dynamics. In these cases, it is questionable that the dynamics represented by the partial variables states still corresponds to a physical system. In this paper, we discuss this problem and prove that the partial dynamics satisfies the conditions of a physical system, which is the basis of control scheme design. Second is control. To tolerate all the errors or perturbations, we design a control scheme which is composed of variable state control and parameter adaptation. The former can tolerate modeling error; the latter can identify the dynamic system in real time. Finally, we apply the proposed control scheme into a humanoid robot control case, which shows the effectiveness of the proposed control scheme.