A simple reinforcement learning algorithm for biped walking
- 1 January 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4 (10504729) , 3030-3035 Vol.3
- https://doi.org/10.1109/robot.2004.1307522
Abstract
We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state at the middle of a step and foot placement to a state at next middle of a step. We also modify the desired walking cycle frequency based on online measurements. We present simulation results, and are currently implementing this approach on an actual biped robot.Keywords
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