Deep reinforcement learning-based attitude motion control for humanoid robots with stability constraints.
Qun ShiWangda YingLei LvJiajun XiePublished in: Ind. Robot (2020)
Keyphrases
- motion control
- humanoid robot
- real robot
- physical constraints
- reinforcement learning
- robot control
- mobile robot
- motion planning
- control system
- autonomous navigation
- multi modal
- walking speed
- motor control
- stability margin
- human robot interaction
- control law
- real time
- function approximation
- path planning
- image sequences
- visual servoing
- kinematic model
- autonomous robots
- body movements
- model free
- vision system
- state space
- dynamic programming
- three dimensional
- machine learning