A Reinforcement Learning Based Dynamic Walking Control
Yong Mao; Jiaxin Wang; Peifa Jia; Shi Li; Zhen Qiu; Le Zhang; Zhuo Han
Robotics and Automation, 2007 IEEE International Conference on
Volume , Issue , 10-14 April 2007 Page(s):3609 - 3614
Digital Object Identifier   10.1109/ROBOT.2007.364031
Summary: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.

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