Reflex-Type Regulation of Biped Robots

A new type of neural controller is proposed to circumvent the difficulties associated with biped locomotion, or other robot tasks. The controller works only in those plants in which the actuation management to reduce the sensor input is easily carried out. This assumption is motivated by our observation that some fundamental reflex is innate in our control systems in brain. Our controller can deal with state discontinuity, model multiplicity and control/learning parallelism. After some toy experiments that demonstrated some novel properties of our controller, we challenged biped locomotion. Very rude indications for locomotion targets are given, and our robot, after a couple of minutes learning, was able to walk biped steadily. The balance which was not explicitly taken care of emerged spontaneously. Some theoretical issues are also addressed.

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