Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-Body Humanoid
نویسندگان
چکیده
This paper describes a learning framework for a central pattern generator based biped locomotion controller using a policy gradient method. Our goals in this study are to achieve biped walking with a 3D hardware humanoid, and to develop an efficient learning algorithm with CPG by reducing the dimensionality of the state space used for learning. We demonstrate that an appropriate feedback controller can be acquired within a thousand trials by numerical simulations and the obtained controller in numerical simulation achieves stable walking with a physical robot in the real world. Numerical simulations and hardware experiments evaluated walking velocity and stability. Furthermore, we present the possibility of an additional online learning using a hardware robot to improve the controller within 200 iterations.
منابع مشابه
Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot
In this paper we describe a learning framework for a central pattern generator (CPG)-based biped locomotion controller using a policy gradient method. Our goals in this study are to achieve CPG-based biped walking with a 3D hardware humanoid and to develop an efficient learning algorithm with CPG by reducing the dimensionality of the state space used for learning. We demonstrate that an appropr...
متن کاملEpisodic Reinforcement Learning Control Approach for Biped Walking
This paper presents a hybrid dynamic control approach to the realisation of humanoid biped robotic walk, focusing on the policy gradient episodic reinforcement learning with fuzzy evaluative feedback. The proposed structure of controller involves two feedback loops: a conventional computed torque controller and an episodic reinforcement learning controller. The reinforcement learning part inclu...
متن کاملDynamic Control Algorithm for Biped Walking Based on Policy Gradient Fuzzy Reinforcement Learning
This paper presents a novel dynamic control approach to acquire biped walking of humanoid robots focussed on policy gradient reinforcement learning with fuzzy evaluative feedback . The proposed structure of controller involves two feedback loops: conventional computed torque controller including impact-force controller and reinforcement learning computed torque controller. Reinforcement learnin...
متن کاملBiped Locomotion and Stability A Practical Approach
Biped locomotion has proven to be a very hard problem to solve. At current date, there exists no humanoid robot that can move as dynamic and robust as humans do. Even though there has been much research and certainly some interesting progress in biped locomotion, there is certainly no single solution that provides robots with the same capabilities as humans. What seems to be especially lacking ...
متن کاملReinforcement Learning for a CPG-driven Biped Robot
Animal’s rhythmic movements such as locomotion are considered to be controlled by neural circuits called central pattern generators (CPGs). This article presents a reinforcement learning (RL) method for a CPG controller, which is inspired by the control mechanism of animals. Because the CPG controller is an instance of recurrent neural networks, a naive application of RL involves difficulties. ...
متن کامل