A Genetic Cerebellar-Based Controller for Dynamic State Estimation

Abstract

We aimed to produce a general method for controller development that requires minimal domain expertise and development time, yet outperforms traditional control methods. Our testbed system was a high degree-of-freedom 3-D biped robot. In simulation, we successfully demonstrated that surprisingly simple controllers can be evolved to exploit the passive dynamics of the robot and thus permit it to stand and to walk over rugged terrain (-6% leg length perturbations). A 'gray box' modeling approach is then used to integrate data gathered during walking trials on the actual (hardware) biped to adaptively improve the hardware model.

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Document Details

Document Type
Technical Report
Publication Date
Jul 31, 2009
Accession Number
ADA522326

Entities

People

  • Joseph H. Solomon
  • Mitra J. Hartmann

Organizations

  • Northwestern University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Computer Programming
  • Control Systems
  • Department Of Defense
  • Dynamics
  • Energy Efficiency
  • Evolutionary Algorithms
  • Geometry
  • Information Operations
  • Locomotion
  • Mathematical Analysis
  • Mathematics
  • Microarchitecture
  • Robots
  • Simulations
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Computer science

Readers

  • Computational Modeling and Simulation
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control
  • Biotechnology