教師資料查詢 | 類別: 期刊論文 | 教師: 劉智誠 LIU, CHIH-CHENG (瀏覽個人網頁)

標題:Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform
學年107
學期2
出版(發表)日期2019/05/31
作品名稱Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform
作品名稱(其他語言)
著者C.C. Wong; C.C. Liu; S.R. Xiao; H.Y. Yang; M.C. Lau
單位
出版者
著錄名稱、卷期、頁數Electronics 8(6) 615, p.1-23
摘要In this paper, an oscillator-based gait pattern with sinusoidal functions is designed and
implemented on a field-programmable gate array (FPGA) chip to generate a trajectory plan and
achieve bipedal locomotion for a small-sized humanoid robot. In order to let the robot can walk
straight, the turning direction is viewed as a parameter of the gait pattern and Q-learning is used to
obtain a straightforward gait pattern. Moreover, an automatic training platform is designed so that
the learning process is automated. In this way, the turning direction can be adjusted flexibly and
efficiently under the supervision of the automatic training platform. The experimental results show
that the proposed learning framework allows the humanoid robot to gradually walk straight in the
automated learning process.
關鍵字: humanoid robot;gait pattern;trajectory planning;bipedal locomotion;Q-learning
語言英文
ISSN0013-5070
期刊性質國外
收錄於SCI;SSCI;
產學合作
通訊作者
審稿制度
國別瑞士
公開徵稿
出版型式,電子版
相關連結
Google+ 推薦功能,讓全世界都能看到您的推薦!