Title :
A Reinforcement Learning Based Dynamic Walking Control
Author :
Mao, Yong ; Wang, Jiaxin ; Jia, Peifa ; Li, Shi ; Qiu, Zhen ; Zhang, Le ; Han, Zhuo
Author_Institution :
Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing
Abstract :
A quasi-passive dynamic walking robot is built to study natural and energy-efficient biped walking. The robot is actuated by MACCEPA actuators. A reinforcement learning based control method is proposed to enhance the robustness and stability of the robot´s walking. The proposed method first learns the desired gait for the robot´s walking on a flat floor. Then a fuzzy advantage learning method is used to control it to walk on uneven floor. The effectiveness of the method is verified by simulation results.
Keywords :
fuzzy control; learning (artificial intelligence); learning systems; legged locomotion; robot dynamics; robust control; MACCEPA actuators; biped walking; dynamic walking control; fuzzy advantage learning method; quasipassive dynamic walking robot; reinforcement learning; robustness; stability; Actuators; Energy efficiency; Knee; Learning; Leg; Legged locomotion; Robot control; Robot sensing systems; Robotics and automation; Robust stability; biped robot; fuzzy advantage learning; passive dynamic walking; reinforcement learning;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364031
