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1.
神经网络等传统的机器学习方法是基于样本数目无穷大的经验风险最小化原则,这对非确定环境下有限样本的步态学习控制非常不利.针对两足机器人面临的非确定环境适应性难题,提出了一种基于支持向量机(SVM)的两足机器人步态控制方法,解决了小样本条件下的步态学习控制问题.提出了一种基于混合核的步态回归方法,仿真研究表明了这种方法比全局核和局部核分别单独用于步态学习时有优越性.SVM以踝关节及髋关节的轨迹作为输入,相应的满足ZMP判据的上体轨迹作为输出,利用有限的理想步态样本对机器人上体轨迹与腿部轨迹之间的动态运动关系进行学习,然后将训练好的SVM置入机器人控制系统,从而增强了步态控制的鲁棒性,有利于实现两足机器人在非结构环境下的稳定步行.仿真结果表明了所提方法的优越性. 相似文献
2.
针对双足机器人面临的复杂环境下动态行走的适应性难题,提出了一种基于学习人类控制策略的双足机器人步态控制方法。利用三维线性倒立摆模型构造双足行走系统的状态方程,建立学习人类控制策略的参数化模型,设计了基于SVM的学习型控制器。该方法保证了躯干始终处于与地面近似垂直,增强了步态控制的鲁棒性,提高了双足机器人在复杂环境下行走的动态稳定性。实验验证了该方法的有效性。 相似文献
3.
A reinforcement learning-based neuro-fuzzy gait synthesizer, which is based on the GARIC (Generalized Approximate Reasoning
for Intelligent Control) architecture, is proposed for the problem of biped dynamic balance. We modify the GARIC architecture
to enable it to generate the trunk trajectory in both sagittal and frontal plane. The proposed gait synthesizer is trained
by reinforcement learning that uses a multi-valued scalar signal to evaluate the degrees of failure or success for the biped
locomotion by means of the ZMP (Zero Moment Point). It can form the initial dynamic balancing gait from linguistic rules,
which are obtained from human intuitive balancing knowledge and biomechanics studies, and accumulate dynamic balancing knowledge
through reinforcement learning, and thus constantly improve its gait during walking. The feasibility of the proposed method
is verified through a 5-link biped robot simulation. 相似文献
4.
欠驱动双足机器人在行走中为保持自身的平衡,双脚需要不间断运动.但在仅有特定立足点的离散地形上很难实现调整后的落脚点,从而导致欠驱动双足机器人在复杂环境中的适应能力下降.提出了基于虚拟约束(Virtual constraint,VC)的变步长调节与控制方法,根据欠驱动双足机器人当前状态与参考落脚点设计了非时变尺度缩放因子,能够实时重构适应当前环境的步态轨迹;同时构建了全身动力学模型,采用反馈线性化的模型预测控制(Model predictive control,MPC)滚动优化产生力矩控制量,实现准确的轨迹跟踪控制.最终进行了欠驱动双足机器人的随机离散地形稳定行走的仿真实验,验证了所提方法的有效性与鲁棒性. 相似文献
5.
During dynamic walking of biped robots, the underactuated rotating degree of freedom (DOF) emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant.This paper addresses the asymptotic orbit stability for criterion for DVHS is also presented,
and the result is then used to study dynamic walking for a five-link
planar biped robot with feet. Time-invariant gait planning and
nonlinear control strategy for dynamic walking with flat feet is
also introduced. Simulation results indicate that an asymptotically
stable limit cycle of dynamic walking is achieved by the proposed
method. 相似文献
6.
Stability and control of dynamic walking for a five-link planar biped robot with feet 总被引:1,自引:0,他引:1
During dynamic walking of biped robots, the underactuated rotating degree of freedom (DOF) emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems (DVHS). Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with fiat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method. 相似文献
7.
动态双足机器人的控制与优化研究进展 总被引:1,自引:0,他引:1
对动态双足机器人的可控周期步态的稳定性、鲁棒性和优化控制策略的国内外研究现状与发展趋势进行了探讨.首先,介绍动态双足机器人的动力学数学模型,进一步,提出动态双足机器人运动步态和控制系统原理;其次,讨论动态双足机器人可控周期步态稳定性现有的研究方法,分析这些方法中存在的缺点与不足;再次,研究动态双足机器人的可控周期步态优化控制策略,阐明各种策略的优缺点;最后,给出动态双足机器人研究领域的难点问题和未来工作,展望动态双足机器人可控周期步态与鲁棒稳定性及其应用的研究思路. 相似文献
8.
针对双足机器人在非平整地面行走时容易失去运动稳定性的问题,提出一种基于一种基于价值的深度强化学习算法DQN(Deep Q-Network)的步态控制方法。首先通过机器人步态规划得到针对平整地面环境的离线步态,然后将双足机器人视为一个智能体,建立机器人环境空间、状态空间、动作空间及奖惩机制,该过程与传统控制方法相比无需复杂的动力学建模过程,最后经过多回合训练使双足机器人学会在不平整地面进行姿态调整,保证行走稳定性。在V-Rep仿真环境中进行了算法验证,双足机器人在非平整地面行走过程中,通过DQN步态调整学习算法,姿态角度波动范围在3°以内,结果表明双足机器人行走稳定性得到明显改善,实现了机器人的姿态调整行为学习,证明了该方法的有效性。 相似文献
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基于深度强化学习的双足机器人斜坡步态控制方法 总被引:1,自引:0,他引:1
为提高准被动双足机器人斜坡步行稳定性, 本文提出了一种基于深度强化学习的准被动双足机器人步态控制方法. 通过分析准被动双足机器人的混合动力学模型与稳定行走过程, 建立了状态空间、动作空间、episode过程与奖励函数. 在利用基于DDPG改进的Ape-X DPG算法持续学习后, 准被动双足机器人能在较大斜坡范围内实现稳定行走. 仿真实验表明, Ape-X DPG无论是学习能力还是收敛速度均优于基于PER的DDPG. 同时, 相较于能量成型控制, 使用Ape-X DPG的准被动双足机器人步态收敛更迅速、步态收敛域更大, 证明Ape-X DPG可有效提高准被动双足机器人的步行稳定性. 相似文献
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针对双足机器人动态步行生成关节运动轨迹复杂问题,提出了一种简单直观的实时步态生成方案。建立了平面五杆双足机器人动力学模型,通过模仿人类步行主要运动特征并根据双足机器人动态步行双腿姿态变化的要求,将动态步行复杂任务分解为顺序执行的四个过程,在关节空间相对坐标系下设计了躯干运动模式、摆动腿和支撑腿动作及步行速度调整模式,结合当前步行控制结果反馈实时产生稳定的关节运动轨迹。仿真实验验证了该方法的有效性,简单易实现。 相似文献
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An interval type-2 fuzzy weighted support vector machine (IT2FW-SVM) is proposed to address the problem of high energy consumption for biped walking robots. Different from the traditional machine learning method of ‘copy learning’, the proposed IT2FW-SVM obtains lower energy cost and larger zero moment point (ZMP) stability margin using a novel strategy of ‘selective learning’, which is similar to human selections based on experience. To handle the uncertainty of the experience, the learning weights in the IT2FW-SVM are deduced using an interval type-2 fuzzy logic system (IT2FLS), which is an extension of the previous weighted SVM. Simulation studies show that the existing biped walking which generates the original walking samples is improved remarkably in terms of both energy efficiency and biped dynamic balance using the proposed IT2FW-SVM. 相似文献
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16.
The paper develops a unified feedback control law for n degree-of-freedom biped robots with one degree of underactuation so as to generate periodic orbits on different slopes. The periodic orbits on different slopes are produced from an original periodic orbit, which is either a natural passive limit cycle on a specific slope or a stable periodic walking gait on level ground generated with active control. First, inspired by the controlled symmetries approach, a general result on gait generation on different slopes based on a periodic orbit on a specific slope is obtained. Second, the time-scaling control approach is integrated to reproduce geometrically same periodic orbits for biped robots with one degree of underactuation. The degree of underactuation is compensated by one degree-of-freedom in the temporal evolution that scales the original periodic orbit. Necessary and sufficient conditions are investigated for the existence and stability properties of periodic orbits on different slopes with the proposed control law. Finally, the proposed approach is illustrated by two kinds of underactuated biped robots: one has a passive gait on a specific ground slope and the other does not have a natural passive gait. 相似文献
17.
This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined
floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat
with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed flat floors.
In reality, however, a typical room floor that appears to be flat has local and global inclinations of about 2°. It is important
to note that even slight unevenness of a floor can cause serious instability in biped walking robots. In this paper, the authors
propose an online control algorithm that considers local and global inclinations of the floor by which a biped humanoid robot
can adapt to the floor conditions. For walking motions, a suitable walking pattern was designed first. Online controllers
were then developed and activated in suitable periods during a walking cycle. The walking control algorithm was successfully
tested and proved through walking experiments on an uneven and inclined floor using KHR-2 (KAIST Humanoid robot-2), a test
robot platform of our biped humanoid robot, HUBO. 相似文献
18.
双足机器人自然ZMP轨迹生成方法研究 总被引:1,自引:0,他引:1
为了实现双足机器人类人行走,提出了一种基于自然ZMP轨迹的双足机器人步行模式生成方法。在单腿支撑相,根据基于三维线性倒立摆模型,在设定从脚跟到脚趾移动的自然ZMP轨迹后,得到质心轨迹方程;在双腿支撑相采用线性摆模型生成质心轨迹方程。同时给出了在统一坐标系中的多步规划质心轨迹方程。在RoboCup 3D仿真平台实现了采用自然ZMP轨迹的双足机器人类人稳定步行,实验和竞赛结果都验证了该方法的有效性。 相似文献
19.
This article presents a novel observer-based control system to achieve reactive motion generation for dynamic biped walking. The proposed approach combines a feedback controller with an online generated feet pattern to assure a stable gait. Using the desired speed of the robot, a preview control system derives the dynamics of the robot’s body, and thereby the trajectory of its center of mass, to ensure a zero moment point (ZMP) movement, which results in a stable execution of the calculated step pattern. Extending the control system by an observer, based on this knowledge and the measured sensor values, compensates for errors in the model parameters and disturbances encountering while walking. 相似文献