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 en
ISSN 0013-5070
期刊性質 國外
收錄於 SCI SSCI
產學合作
通訊作者
審稿制度 是
國別 CHE
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/118135 )