Switching Multiple LQG Controllers Based on Bellman's Optimality Principle: Using Full-State Feedback to Control a Humanoid Robot

被引：0

作者：

Sugimoto, Norikazu ^{[1
]}

Morimoto, Jun ^{[2
]}

机构：

[1] Natl Inst Commun Telecommun, 2-2-2 Hikaridai Seika Cho, Kyoto 6190288, Japan

[2] ATR Computat Neurosci Lab, 2-2-2 Hikaridai Seika Cho, Kyoto 6190288, Japan

来源：

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2011年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this study, we propose novel modular architecture to control a robot with many degrees of freedom, such as a humanoid robot. High-degree-of-freedom (DOF) robots tend to have highly nonlinear dynamics. In general, deriving a nonlinear controller for high-dimensional systems is intractable. In our approach, we adopt multiple Linear Quadratic Gaussian (LQG) controllers to cope with nonlinear dynamics. Switching criteria for the modular architecture is provided by Bellman's optimality. The proposed method is applied to a simulated 10-DOF biped model and a 51-DOF humanoid robot called CB-i.

引用

页码：3185 / 3191

页数：7

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