DocumentCode
3144378
Title
Biped walking pattern generation using reinforcement learning
Author
Lee, Jungho ; Oh, Jun Ho
Author_Institution
Korea Adv. Inst. of Sci. & Technol., Daejeon
fYear
2007
fDate
Nov. 29 2007-Dec. 1 2007
Firstpage
416
Lastpage
421
Abstract
In this research, a stable biped walking pattern is generated. The walking pattern is a simple third order polynomial. To find the proper boundary condition, the reinforcement learning algorithm is used. The final velocity of the walking pattern is chosen as learning parameter. To test the algorithm, a simulator that includes the reaction between the foot of the robot and the ground was developed. The algorithm is verified through a simulation.
Keywords
learning (artificial intelligence); legged locomotion; polynomials; biped walking pattern generation; reinforcement learning; third order polynomial; Boundary conditions; Foot; Humans; Learning; Leg; Legged locomotion; Motion control; Polynomials; Robots; Testing; Biped Walking; CMAC; Reinforcement Learning; Walking Pattern;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots, 2007 7th IEEE-RAS International Conference on
Conference_Location
Pittsburgh, PA
Print_ISBN
978-1-4244-1861-9
Electronic_ISBN
978-1-4244-1862-6
Type
conf
DOI
10.1109/ICHR.2007.4813903
Filename
4813903
Link To Document