منابع مشابه
Reinforcement learning control algorithm for humanoid robot walking
The integrated dynamic control of humanoid locomotion mechanisms based on the spatial dynamic model of humanoid mechanism is presented in this paper. The control scheme was synthesized using the centralized model with proposed structure of dynamic controller that involves two feedback loops: position-velocity feedback of the robotic mechanism joints and reinforcement learning feedback around Ze...
متن کاملReinforcement learning for robot control
Writing control code for mobile robots can be a very time-consuming process. Even for apparently simple tasks, it is often difficult to specify in detail how the robot should accomplish them. Robot control code is typically full of “magic numbers” that must be painstakingly set for each environment that the robot must operate in. The idea of having a robot learn how to accomplish a task, rather...
متن کاملReinforcement Learning for Biped Robot
Animal rhythmic movements such as locomotion are considered to be controlled by neural circuits called central pattern generators (CPGs), which generate oscillatory signals. Motivated by such a biological mechanisms, rhythmic movements controlled by CPG has been studied. As an autonomous learning framework for the CPG controller, we propose an reinforcement learning method , which is called the...
متن کاملReinforcement learning for robot soccer
Batch reinforcement learning methods provide a powerful framework for learning efficiently and effectively in autonomous robots. The paper reviews some recent work of the authors aiming at the successful application of reinforcement learning in a challenging and complex domain. It discusses several variants of the general batch learning framework, particularly tailored to the use of multilayer ...
متن کاملStable Walking Pattern Generation for a Biped Robot Using Reinforcement Learning
In this research, a stable biped walking pattern is generated by using reinforcement learning. The biped walking pattern for forward direction is chosen as a simple third order polynomial and sinusoidal function is used for sideway direction. To complete the forward walking pattern, four boundary conditions are needed. In order to avoid jerk motion, initial position and velocity and final posit...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IOP Conference Series: Materials Science and Engineering
سال: 2021
ISSN: 1757-899X
DOI: 10.1088/1757-899x/1070/1/012075