Locomotion Control Method for Humanoid Robot Based on United Hierarchical Reinforcement Learning.
Boying LiuLu MaChenju LiuBinChen XuPublished in: ICCA (2020)
Keyphrases
- humanoid robot
- control method
- hierarchical reinforcement learning
- legged locomotion
- rough terrain
- motion planning
- control algorithm
- reinforcement learning
- control strategy
- control system
- adaptive control
- multi modal
- fuzzy control
- pid controller
- state abstraction
- robot control
- model free
- dc dc converter
- fuzzy controller
- fuzzy pid control
- mobile robot
- manufacturing systems
- markov decision process
- machine learning
- control law
- robotic systems
- average reward
- degrees of freedom
- optimal policy
- video sequences
- neural network