DMP-Based Motion Generation for a Walking Exoskeleton Robot Using Reinforcement Learning.
Yuxia YuanZhijun LiTing ZhaoDi GanPublished in: IEEE Trans. Ind. Electron. (2020)
Keyphrases
- humanoid robot
- lower extremity
- reinforcement learning
- joint space
- motion planning
- real robot
- multi modal
- human robot interaction
- walking speed
- robot motion
- motion control
- autonomous navigation
- human motion
- degrees of freedom
- mobile robot
- function approximation
- position and orientation
- moving objects
- biped walking
- human gait
- model free
- end effector
- inverse kinematics
- control signals
- image sequences
- robot control
- motion model
- camera motion
- optical flow
- robot navigation
- motion capture
- walking robot
- video sequences
- monocular vision
- learning algorithm
- central pattern generator
- robot moves
- hand eye calibration
- rough terrain
- motion estimation
- optimal policy
- human body
- space time
- physical constraints
- joint angles
- robot manipulators