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

機構典藏 > College of Engineering > Graduate Institute & Department of Electrical Engineering > Journal Article > Item 987654321/118135

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Title:	Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform
Authors:	Wong, C.C.;Liu, C.C.;Xiao, S.R.;Yang, H.Y.;Lau, M.C.
Keywords:	: humanoid robot;gait pattern;trajectory planning;bipedal locomotion;Q-learning
Date:	2019-05-31
Issue Date:	2020-02-25 12:10:53 (UTC+8)
Abstract:	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.
Relation:	Electronics 8(6) 615, p.1-23
DOI:	10.3390/electronics8060615
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Journal Article

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