|
1. |
A simple reinforcement learning algorithm for biped walking
Morimoto, J.; Cheng, G.; Atkeson, C.G.; Zeglin, G.;
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Volume 3,
Apr 26-May 1, 2004
Page(s):3030
-
3035 Vol.3
Abstract:
We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state at the middle of a step and foot placement to a state at next middle of a step. We also modify the desired walking cycle frequency based on online measurements. We present simulation results, and are currently implementing this approach on an actual biped robot.
|
Cart
