A Reinforcement Learning Based Dynamic Walking Control
- 1 April 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 10504729,p. 3609-3614
- https://doi.org/10.1109/robot.2007.364031
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
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