Application of active force control and iterative learning in a 5-link biped robot

Kwek, L.C. and Wong, E.K. and Loo, C.K. and Rao, M.V.C. (2003) Application of active force control and iterative learning in a 5-link biped robot. Journal of Intelligent & Robotic Systems, 37 (2). pp. 143-162.

Full text not available from this repository.
Official URL:


This paper investigates the efficacy of the implementation of the conventional Proportional-Derivative (PD) controller and different Active Force Control (AFC) strategies to a 5-link biped robot through a series of simulation studies. The performance of the biped system is evaluated by making the biped walk on a horizontal flat surface, in which the locomotion is constrained within the sagittal plane. Initially, a classical PD controller has been used to control the biped robot. Then, a disturbance elimination method called Active Force Control (AFC) schemes has been incorporated. The effectiveness and robustness of the AFC as �disturbance rejecter� has been examined when a conventional crude approximation (AFCCA), and an intelligent active force control scheme, which is known as Active Force Control and Iterative Learning (AFCAIL) are employed. It is found that for both of the AFC control schemes proposed, the system is robust and stable even under the influence of disturbances. An attractive feature of the AFCAIL scheme is that inertia matrix tuning becomes much easier and automatic without any degradation in the performance.

Item Type: Article
Uncontrolled Keywords: Biped ;proportional-derivative control ;active force control ;crude approximation; iterative learning
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Computer Science & Information Technology > Department of Artificial Intelligence
Depositing User: Miss Nur Jannatul Adnin Ahmad Shafawi
Date Deposited: 19 Mar 2013 00:23
Last Modified: 19 Mar 2013 00:23

Actions (login required)

View Item View Item