Hybrid Dynamic Control Algorithm for Humanoid Robots Based on Reinforcement Learning |
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Authors: | Duśko M. Katić Aleksandar D. Rodić Miomir K. Vukobratović |
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Affiliation: | (1) Robotics Department, Mihajlo Pupin Institute, Volgina 15, Belgrade, 11060, Serbia |
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Abstract: | In this paper, hybrid integrated dynamic control algorithm for humanoid locomotion mechanism is presented. The proposed structure of controller involves two feedback loops: model-based dynamic controller including impart-force controller and reinforcement learning feedback controller around zero-moment point. The proposed new reinforcement learning algorithm is based on modified version of actor-critic architecture for dynamic reactive compensation. Simulation experiments were carried out in order to validate the proposed control approach.The obtained simulation results served as the basis for a critical evaluation of the controller performance. |
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Keywords: | Humanoid robots Biped locomotion Integrated dynamic control Reinforcement learning Actor– critic method |
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