Walking motion generation, synthesis, and control for biped robot by using PGRL, LPI, and fuzzy logic

Tzuu Hseng S. Li, Yu Te Su, Shao Wei Lai, Jhen Jia Hu

研究成果: Article同行評審

56 引文 斯高帕斯(Scopus)


This paper proposes the implementation of fuzzy motion control based on reinforcement learning (RL) and Lagrange polynomial interpolation (LPI) for gait synthesis of biped robots. First, the procedure of a walking gait is redefined into three states, and the parameters of this designed walking gait are determined. Then, the machine learning approach applied to adjusting the walking parameters is policy gradient RL (PGRL), which can execute real-time performance and directly modify the policy without calculating the dynamic function. Given a parameterized walking motion designed for biped robots, the PGRL algorithm automatically searches the set of possible parameters and finds the fastest possible walking motion. The reward function mainly considered is first the walking speed, which can be estimated from the vision system. However, the experiment illustrates that there are some stability problems in this kind of learning process. To solve these problems, the desired zero moment point trajectory is added to the reward function. The results show that the robot not only has more stable walking but also increases its walking speed after learning. This is more effective and attractive than manual trial-and-error tuning. LPI, moreover, is employed to transform the existing motions to the motion which has a revised angle determined by the fuzzy motion controller. Then, the biped robot can continuously walk in any desired direction through this fuzzy motion control. Finally, the fuzzy-based gait synthesis control is demonstrated by tasks and point- and line-target tracking. The experiments show the feasibility and effectiveness of gait learning with PGRL and the practicability of the proposed fuzzy motion control scheme.

頁(從 - 到)736-748
期刊IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
出版狀態Published - 2011 六月

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 資訊系統
  • 人機介面
  • 電腦科學應用
  • 電氣與電子工程


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