Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform

Electronics

Meng-Cheng Lau¹  Sheng-Ru Xiao²  Hao-Yu Yang²  Chih-Cheng Liu²  Ching-Chang Wong² 

[1] Department of Computer Science, University of Manitoba, Winnipeg, MB R3T 2N2, Canada;Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan;

关键词: humanoid robot;    gait pattern;    trajectory planning;    bipedal locomotion;    Q-learning;   

DOI  :  10.3390/electronics8060615

来源: DOAJ

【 摘 要 】

In this paper, an oscillator-based gait pattern with sinusoidal functions is designed and implemented on a field-programmable gate array (FPGA) chip to generate a trajectory plan and achieve bipedal locomotion for a small-sized humanoid robot. In order to let the robot can walk straight, the turning direction is viewed as a parameter of the gait pattern and Q-learning is used to obtain a straightforward gait pattern. Moreover, an automatic training platform is designed so that the learning process is automated. In this way, the turning direction can be adjusted flexibly and efficiently under the supervision of the automatic training platform. The experimental results show that the proposed learning framework allows the humanoid robot to gradually walk straight in the automated learning process.

【 授权许可】

Unknown