Learning to Walk Fast: Optimized Hip Height Movement for Simulated and Real Humanoid Robots
作者: Nima ShafiiNuno LauLuis Paulo Reis
作者单位: 1Faculty of Engineering of the University of Porto
2LIACC - Artificial Intelligence and Computer Science Laboratory
3IEETA - Institute of Electronics and Telematics Engineering of Aveiro
4University of Aveiro
5University of Minho
刊名: Journal of Intelligent & Robotic Systems, 2015, Vol.80 (3-4), pp.555-571
来源数据库: Springer Journal
DOI: 10.1007/s10846-015-0191-5
关键词: Biped walkingZMP controlGait learningCentral pattern generator
英文摘要: Abstract(#br)The linear inverted pendulum model has been used predominantly to generate balanced humanoid walking. This model assumes that the hip height is fixed during the walk. In this paper, generating a fast walk is studied with the main focus on the effect of hip height movement. Our approach is based on modeling the hip height movement and learning its parameters in order to generate a fast walk. The hip height trajectory is generated using Fourier basis functions. The generated trajectory is the input to programmable Central Pattern Generators (CPGs) in order to modulate generated trajectories smoothly. The inverted pendulum model is utilized to model a balanced walking. A numerical approach is presented to control inverted pendulum dynamics. Covariance Matrix Adaptation Evolution...
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影响因子:0.827 (2012)