Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform

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...

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Bibliographic Details
Main Authors: Ching-Chang Wong, Chih-Cheng Liu, Sheng-Ru Xiao, Hao-Yu Yang, Meng-Cheng Lau
Format: Article
Language:English
Published: MDPI AG 2019-05-01
Series:Electronics
Subjects:
humanoid robot
gait pattern
trajectory planning
bipedal locomotion
Q-learning
Online Access:https://www.mdpi.com/2079-9292/8/6/615

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