Control Algorithm For Biped Walking Using Reinforcement Learning
نویسندگان
چکیده
The work is concerned with the integrated dynamic control of humanoid locomotion mechanisms based on the spatial dynamic model of humanoid mechanism. 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 Zero-Moment Point. The proposed reinforcement learning is based on modified version GARIC architecture for dynamic reactive compensation. Simulation experiments were carried out in order to validate the proposed control approach.
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