Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform
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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-05-01
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| Series: | Electronics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-9292/8/6/615 |
| _version_ | 1798039477679030272 |
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| author | Ching-Chang Wong Chih-Cheng Liu Sheng-Ru Xiao Hao-Yu Yang Meng-Cheng Lau |
| author_facet | Ching-Chang Wong Chih-Cheng Liu Sheng-Ru Xiao Hao-Yu Yang Meng-Cheng Lau |
| author_sort | Ching-Chang Wong |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T21:54:25Z |
| format | Article |
| id | doaj.art-bff0a9115d714f53824e111db2718bef |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-04-11T21:54:25Z |
| publishDate | 2019-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-bff0a9115d714f53824e111db2718bef2022-12-22T04:01:10ZengMDPI AGElectronics2079-92922019-05-018661510.3390/electronics8060615electronics8060615Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training PlatformChing-Chang Wong0Chih-Cheng Liu1Sheng-Ru Xiao2Hao-Yu Yang3Meng-Cheng Lau4Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, TaiwanDepartment of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, TaiwanDepartment of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, TaiwanDepartment of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, TaiwanDepartment of Computer Science, University of Manitoba, Winnipeg, MB R3T 2N2, CanadaIn 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.https://www.mdpi.com/2079-9292/8/6/615humanoid robotgait patterntrajectory planningbipedal locomotionQ-learning |
| spellingShingle | Ching-Chang Wong Chih-Cheng Liu Sheng-Ru Xiao Hao-Yu Yang Meng-Cheng Lau Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform Electronics humanoid robot gait pattern trajectory planning bipedal locomotion Q-learning |
| title | Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform |
| title_full | Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform |
| title_fullStr | Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform |
| title_full_unstemmed | Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform |
| title_short | Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform |
| title_sort | q learning of straightforward gait pattern for humanoid robot based on automatic training platform |
| topic | humanoid robot gait pattern trajectory planning bipedal locomotion Q-learning |
| url | https://www.mdpi.com/2079-9292/8/6/615 |
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