Blind Walking Balance Control and Disturbance Rejection of the Bipedal Humanoid Robot Xiao-Man via Reinforcement Learning.
Chao JiDiyuan LiuWei GaoShiwu ZhangPublished in: ROBIO (2023)
Keyphrases
- humanoid robot
- disturbance rejection
- walking speed
- limit cycle
- reinforcement learning
- control system
- closed loop
- real robot
- motion planning
- multi modal
- legged locomotion
- control law
- pid controller
- control scheme
- imitation learning
- steady state
- joint space
- real time
- control method
- neural model
- path planning
- control loop
- artificial neural networks
- video sequences
- computer vision
- neural network