A Needs Learning Algorithm Applied to Stable Gait Generation of Quadruped Robot
Based on Maslow’s hierarchy of needs theory, we have proposed a novel machine learning algorithm that combines factors of the environment and its own needs to make decisions for different states of an agent. This means it can be applied to the gait generation of a quadruped robot, which needs to mak...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-09-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/19/7302 |
| _version_ | 1797476957718315008 |
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| author | Hanzhong Zhang Jibin Yin Haoyang Wang |
| author_facet | Hanzhong Zhang Jibin Yin Haoyang Wang |
| author_sort | Hanzhong Zhang |
| collection | DOAJ |
| description | Based on Maslow’s hierarchy of needs theory, we have proposed a novel machine learning algorithm that combines factors of the environment and its own needs to make decisions for different states of an agent. This means it can be applied to the gait generation of a quadruped robot, which needs to make demand decisions. To evaluate the design, we created an experimental task in order to compare the needs learning algorithm with a reinforcement learning algorithm, which was also derived from psychological motivation theory. It was found that the needs learning algorithm outperformed the reinforcement learning in tasks that involved making decisions between different levels of needs. Finally, we applied the needs learning algorithm to the problem of stable gait generation of quadruped robot, and it had achieved good results in simulation and real robot. |
| first_indexed | 2024-03-09T21:11:10Z |
| format | Article |
| id | doaj.art-785299d2186e46318cb6a6b4b2cf6db9 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T21:11:10Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-785299d2186e46318cb6a6b4b2cf6db92023-11-23T21:46:55ZengMDPI AGSensors1424-82202022-09-012219730210.3390/s22197302A Needs Learning Algorithm Applied to Stable Gait Generation of Quadruped RobotHanzhong Zhang0Jibin Yin1Haoyang Wang2Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650221, ChinaFaculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650221, ChinaFaculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650221, ChinaBased on Maslow’s hierarchy of needs theory, we have proposed a novel machine learning algorithm that combines factors of the environment and its own needs to make decisions for different states of an agent. This means it can be applied to the gait generation of a quadruped robot, which needs to make demand decisions. To evaluate the design, we created an experimental task in order to compare the needs learning algorithm with a reinforcement learning algorithm, which was also derived from psychological motivation theory. It was found that the needs learning algorithm outperformed the reinforcement learning in tasks that involved making decisions between different levels of needs. Finally, we applied the needs learning algorithm to the problem of stable gait generation of quadruped robot, and it had achieved good results in simulation and real robot.https://www.mdpi.com/1424-8220/22/19/7302machine learningMaslow’s hierarchy of needsdemand decision |
| spellingShingle | Hanzhong Zhang Jibin Yin Haoyang Wang A Needs Learning Algorithm Applied to Stable Gait Generation of Quadruped Robot Sensors machine learning Maslow’s hierarchy of needs demand decision |
| title | A Needs Learning Algorithm Applied to Stable Gait Generation of Quadruped Robot |
| title_full | A Needs Learning Algorithm Applied to Stable Gait Generation of Quadruped Robot |
| title_fullStr | A Needs Learning Algorithm Applied to Stable Gait Generation of Quadruped Robot |
| title_full_unstemmed | A Needs Learning Algorithm Applied to Stable Gait Generation of Quadruped Robot |
| title_short | A Needs Learning Algorithm Applied to Stable Gait Generation of Quadruped Robot |
| title_sort | needs learning algorithm applied to stable gait generation of quadruped robot |
| topic | machine learning Maslow’s hierarchy of needs demand decision |
| url | https://www.mdpi.com/1424-8220/22/19/7302 |
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