Study of similar motion imitation of stepping upstairs for humanoid robot

被引：0
|
作者：
Ke, Wen-De [1 ,2 ]
Peng, Zhi-Ping [1 ]
Chen, Ke [1 ]
Hao, Liang [2 ]
机构：
[1] Guangdong Univ Petrochem Technol, Dept Comp Sci, Maoming 525000, Peoples R China
[2] Harbin Inst Technol, Sch Comp Sci, Harbin 150001, Heilongjiang, Peoples R China
来源：
INTERNATIONAL JOURNAL OF COMPUTING SCIENCE AND MATHEMATICS | 2013年 / 4卷 / 02期
关键词：
humanoid robot; hierarchical reinforcement learning; similarity; retargeting;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Aimed at the situation of fitting variable environments in similarity imitation of stepping upstairs for humanoid robot, the process of designing similarity imitation was analysed as well as the rhythm control of key posture in similar locomotion. The simplified locomotion model and retargeting, connection of motion phases, and ZMP stability constraints were shown in similarity locomotion. The hierarchical reinforcement learning MaxQ was used to adjust the movement tracks of similarity to fit the variable stairs. The experiments showed the validity of the method.
引用
收藏
页码：120 / 130
页数：11
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