Adaptive and Neural Learning for Biped Robot Actuator Control

  • Pavan K. Vempaty
  • Ka C. Cheok
  • Robert N. K. Loh
  • Micho Radovnikovich
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 68)


Many robotics problems do not take the dynamics of the actuators into account in the formulation of the control solutions. The fallacy is in assuming that forces/torques can be instantaneously and accurately generated. In practice, actuator dynamics may be unknown. This paper presents a Model Reference Adaptive Controller (MRAC) for the actuators of a biped robot that mimics a human walking motion. The MRAC self-adjusts so that the actuators produce the desired torques. Lyapunov stability criterion and a rate of convergence analysis is provided. The control scheme for the biped robot is simulated on a sagittal plane to verify the MRAC scheme for the actuators. Next, the paper shows how a neural network (NN) can learn to generate its own walking gaits using successful runs from the adaptive control scheme. In this case, the NN learns to estimate and anticipate the reference commands for the gaits.


Biped Robot Model Reference Adaptive Control Biped Walking Actuator Torque Neural Network Estimation 
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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Pavan K. Vempaty
    • 1
  • Ka C. Cheok
  • Robert N. K. Loh
  • Micho Radovnikovich
  1. 1.Department of Electrical and Computer EngineeringOakland UniversityRochesterUSA

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