Intelligent Posture Control of Humanoid Robot in Variable Environment

被引：1
|
作者：
Shi Q. [1 ]
Lü L. [1 ]
Xie J. [1 ]
机构：
[1] School of Mechanical and Electrical Engineering and Automation, Shanghai University, Shanghai
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2020年 / 56卷 / 03期
关键词：
Bipedal walking; Deep reinforcement learning; Motion control;
D O I：
10.3901/JME.2020.03.064
中图分类号：
学科分类号：
摘要：
To solve the problems of motion instability of humanoid robots in variable uncertain, unstructured terrain and the low accuracy motion control, intelligent posture motion control algorithm is proposed. The deep reinforcement learning based continuous motion and continuous state space is applied to posture control, and the humanoid robot motion intelligent posture controller is established. Aiming at the problems of less sample and low efficiency of physical prototype training, the identification robot model is present to perform offline pre-training of the posture controller as a prior knowledge for continuous learning and in the real physical environment, improve the training efficiency in the later stage. The optimized robot posture controller is applied to the motion control of the robot. Compared with the robot motion with PID controller, MPC controller and PID+MPC controller, the standard deviation of the upper body pitch posture trajectory tracking error of the robot is reduced by 60.97%, 46.36%, 23.98% in the environmental transitional walking test, respectively. In the walking test of ground obstacles, the standard deviations of the trajectory tracking errors of the robot's upper body pitching posture are reduced by 60.38%, 26.38% and 9.52%, respectively. © 2020 Journal of Mechanical Engineering.
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页码：64 / 72
页数：8
相关论文
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