One-Shot Bipedal Robot Dynamics Identification With a Reservoir-Based RNN

One-Shot Bipedal Robot Dynamics Identification With a Reservoir-Based RNN

The nonlinear inverted pendulum model of a lightweight bipedal robot is identified in real-time using a reservoir-based Recurrent Neural Network (RNN). The adaptation occurs online, while a disturbance force is repeatedly applied to the robot body. The hyperparameters of the model, such as the numbe...

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Bibliographic Details
Main Authors: Michele Folgheraiter, Asset Yskak, Sharafatdin Yessirkepov
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
One-shot nonlinear model identification
bipedal robot inverse pendulum model
reservoir-based RNN
echo state machine
liquid state machine
long short-term memory RNN
Online Access:https://ieeexplore.ieee.org/document/10129895/

Internet

https://ieeexplore.ieee.org/document/10129895/

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