Gait Parameter Optimization of Quadruped Robot Under Energy Consumption Index Based on Reinforcement Learning

被引：0
|
作者：
Chen, Lu [1 ]
Ma, Hongxu [1 ]
Lang, Lin [1 ,2 ]
Liu, Xiangming [1 ]
Wei, Qing [1 ]
An, Honglei [1 ]
机构：
[1] Natl Univ Def Technol, Coll Intelligence Sci & Technol, Changsha, Hunan, Peoples R China
[2] Hunan Univ Finance & Econ, Changsha, Hunan, Peoples R China
来源：
2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022) | 2022年
基金：
美国国家科学基金会;
关键词：
D O I：
10.1109/ICARM54641.2022.9959165
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the gait optimization of quadruped bionic robot is studied under the unified energy consumption index. Firstly, an energy consumption index of quadruped robot is established. Secondly, the reinforcement learning method is used to optimize the gait parameters of the quadruped robot, so that the quadruped robot can gradually find the gait parameter combination with the lowest energy consumption in the current state in the interaction with the environment. In order to verify the effectiveness of this method, this paper completes the optimization of gait parameters combined with MIT cheetah software and DDQN network.
引用
收藏
页码：972 / 977
页数：6
相关论文
共 50 条
  • [31] Gait-based Quadruped Robot Planar Hopping Control with Energy Planning
    Chai, Hui
    Rong, Xuewen
    Tang, Xingpeng
    Li, Yibin
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2016, 13
  • [32] Quadruped robot obstacle negotiation via reinforcement learning
    Lee, Honglak
    Shen, Yirong
    Yu, Chih-Han
    Singh, Gurjeet
    Ng, Andrew Y.
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 3003 - +
  • [33] Single Leg Operational Space Control of Quadruped Robot based on Reinforcement Learning
    Rao, Jinhui
    An, Honglei
    Zhang, Taihui
    Chen, Yangzhen
    Ma, Hongxu
    2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2016, : 597 - 602
  • [34] Free Gait Planning for a Hexapod Robot Based on Reinforcement Learning
    Li M.
    Zhang M.
    Zhang J.
    Tian Y.
    Ma Y.
    Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2019, 55 (05): : 36 - 44
  • [35] Learning Gait of Quadruped Robot without Prior Knowledge of the Environment
    XU Tao and CHEN Qijun College of Electronic and Information Engineering Tongji University Shanghai China
    Chinese Journal of Mechanical Engineering, 2012, 25 (05) : 1068 - 1074
  • [36] Learning gait of quadruped robot without prior knowledge of the environment
    Tao Xu
    Qijun Chen
    Chinese Journal of Mechanical Engineering, 2012, 25 : 1068 - 1074
  • [37] Design of Quadruped Robot Based on Coupling Driving Leg Mechanism and Optimization of Crawling Gait
    Sheng Sha
    Pan Shaopeng
    26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, : 5096 - 5101
  • [38] Energy Efficiency Optimization of an Interactive Quadruped Robot
    Fan, Fufei
    Zhang, Jiaming
    Meng, Yu
    Deng, Fuhao
    Qian, Huihuan
    Xu, Yangsheng
    2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017), 2017, : 1793 - 1799
  • [39] A Turning Gait Generation Approach for Quadruped Robot Based on Trotting Gait
    Hong, Zhen
    Li, Bin
    Zhang, Hui
    Xin, Yaxian
    Li, Yibin
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 6068 - 6073
  • [40] CPG-Based Gait Transition of a Quadruped Robot
    Asadi, Farhad
    Khorram, Mahdi
    Moosavian, S. Ali A.
    2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2015, : 210 - 215
12345