Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm
Energy consumption is one of the most critical factors in determining the kinematic performance of quadruped robots. However, existing research methods often encounter challenges in quickly and efficiently reducing the energy consumption associated with quadrupedal robotic locomotion. In this paper,...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-01-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/13/1/18 |
| _version_ | 1797344907516444672 |
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| author | Zhenzhuo Yan Hongwei Ji Qing Chang |
| author_facet | Zhenzhuo Yan Hongwei Ji Qing Chang |
| author_sort | Zhenzhuo Yan |
| collection | DOAJ |
| description | Energy consumption is one of the most critical factors in determining the kinematic performance of quadruped robots. However, existing research methods often encounter challenges in quickly and efficiently reducing the energy consumption associated with quadrupedal robotic locomotion. In this paper, the deep deterministic policy gradient (DDPG) algorithm was used to optimize the energy consumption of the Cyber Dog quadruped robot. Firstly, the kinematic and energy consumption models of the robot were established. Secondly, energy consumption was optimized by reinforcement learning using the DDPG algorithm. The optimized plantar trajectory was then compared with two common plantar trajectories in simulation experiments, with the same period and the number of synchronizations but varying velocities. Lastly, real experiments were conducted using a prototype machine to validate the simulation data. The analysis results show that, under the same conditions, the proposed method can reduce energy consumption by 7~9% compared with the existing optimal trajectory methods. |
| first_indexed | 2024-03-08T11:09:41Z |
| format | Article |
| id | doaj.art-bd4abf03b1004da69255ab6835137f69 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-08T11:09:41Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-bd4abf03b1004da69255ab6835137f692024-01-26T14:10:48ZengMDPI AGActuators2076-08252024-01-011311810.3390/act13010018Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG AlgorithmZhenzhuo Yan0Hongwei Ji1Qing Chang2School of Mechanical Engineering, Tianjin University of Commerce, Tianjin 300134, ChinaSchool of Mechanical Engineering, Tianjin University of Commerce, Tianjin 300134, ChinaSchool of Mechanical Engineering, Tianjin University of Commerce, Tianjin 300134, ChinaEnergy consumption is one of the most critical factors in determining the kinematic performance of quadruped robots. However, existing research methods often encounter challenges in quickly and efficiently reducing the energy consumption associated with quadrupedal robotic locomotion. In this paper, the deep deterministic policy gradient (DDPG) algorithm was used to optimize the energy consumption of the Cyber Dog quadruped robot. Firstly, the kinematic and energy consumption models of the robot were established. Secondly, energy consumption was optimized by reinforcement learning using the DDPG algorithm. The optimized plantar trajectory was then compared with two common plantar trajectories in simulation experiments, with the same period and the number of synchronizations but varying velocities. Lastly, real experiments were conducted using a prototype machine to validate the simulation data. The analysis results show that, under the same conditions, the proposed method can reduce energy consumption by 7~9% compared with the existing optimal trajectory methods.https://www.mdpi.com/2076-0825/13/1/18quadruped robotdeep reinforcement learningrobot movementenergy efficiency |
| spellingShingle | Zhenzhuo Yan Hongwei Ji Qing Chang Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm Actuators quadruped robot deep reinforcement learning robot movement energy efficiency |
| title | Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm |
| title_full | Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm |
| title_fullStr | Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm |
| title_full_unstemmed | Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm |
| title_short | Energy Consumption Minimization of Quadruped Robot Based on Reinforcement Learning of DDPG Algorithm |
| title_sort | energy consumption minimization of quadruped robot based on reinforcement learning of ddpg algorithm |
| topic | quadruped robot deep reinforcement learning robot movement energy efficiency |
| url | https://www.mdpi.com/2076-0825/13/1/18 |
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