International Journal of Robotics Research
Evolutionary robotics and the radical envelope-of-noise hypothesis
Adaptive Behavior
Noise and the Reality Gap: The Use of Simulation in Evolutionary Robotics
Proceedings of the Third European Conference on Advances in Artificial Life
Introduction to Evolutionary Computing
Introduction to Evolutionary Computing
Sensorimotor Control of Biped Locomotion
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Combining Simulation and Reality in Evolutionary Robotics
Journal of Intelligent and Robotic Systems
International Journal of Robotics Research
Tendon Based Full Size Biped Humanoid Robot Walking Platform Design
Proceedings of the FIRA RoboWorld Congress 2009 on Advances in Robotics
Minimalistic control of biped walking in rough terrain
Autonomous Robots
Fully interconnected, linear control for limit cycle walking
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Evolution of central pattern generators for bipedal walking in areal-time physics environment
IEEE Transactions on Evolutionary Computation
Linear reactive control for efficient 2D and 3D bipedal walking over rough terrain
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
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Walking control of biped robots is a challenging problem, and improving robustness to noise and uncertainty remains difficult. We recently developed a novel control framework for 3D bipedal walking that we call â聙聹linear reactive control.â聙聺 It is linear because control torques are computed as simple weighted sums of sensor states. It is reactive because it depends only on the model's current state. The present simulation study shows that this controller performs reliably in the presence of realistic models of joint actuation, sensor noise, and uncertainty in model and contact parameters. The controller is able to maintain a stable gait in the presence of noisy sensor inputs and low-impedance actuation. It also performs reliably on models with high uncertainty (up to 20%) in measurements of their dynamic parameters and widely varying ground contact parameters. The robustness of this controller to realistic conditions validates this method as a promising avenue for bipedal control.