Learning a reactive posture control on the four-legged walking machine BISAM

Abstract

Presents methods and experiments of adaptive posture control for a four legged walking machine. Starting from the analysis of the implemented movement behaviour of BISAM we identify adequate tasks for adaptive control components and present adaptive posture control mechanisms for statically stable and dynamically stable movements. The reflex-based posture control is implemented via fuzzy control and reinforcement learning. The integration of the posture control in the control architecture is also described.