Push recovery and active balancing for inexpensive humanoid robots using rl and drl

Amirhossein Hosseinmemar*, John Anderson, Jacky Baltes, Meng Cheng Lau, Ziang Wang

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

摘要

Push recovery of a humanoid robot is a challenging task because of many different levels of control and behaviour, from walking gait to dynamic balancing. This research focuses on the active balancing and push recovery problems that allow inexpensive humanoid robots to balance while standing and walking, and to compensate for external forces. In this research, we have proposed a push recovery mechanism that employs two machine learning techniques, Reinforcement Learning and Deep Reinforcement Learning, to learn recovery step trajectories during push recovery using a closed-loop feedback control. We have implemented a 3D model using the Robot Operating System and Gazebo. To reduce wear and tear on the real robot, we used this model for learning the recovery steps for different impact strengths and directions. We evaluated our approach in both in the real world and in simulation. All the real world experiments are performed by Polaris, a teen-sized humanoid robot.

原文英語
主出版物標題Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices - 33rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2020, Proceedings
編輯Hamido Fujita, Jun Sasaki, Philippe Fournier-Viger, Moonis Ali
發行者Springer Science and Business Media Deutschland GmbH
頁面63-74
頁數12
ISBN(列印)9783030557881
DOIs
出版狀態已發佈 - 2020
事件33rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2020 - Kitakyushu, 日本
持續時間: 2020 九月 222020 九月 25

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
12144 LNAI
ISSN(列印)0302-9743
ISSN(電子)1611-3349

會議

會議33rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2020
國家/地區日本
城市Kitakyushu
期間2020/09/222020/09/25

ASJC Scopus subject areas

  • 理論電腦科學
  • 電腦科學(全部)

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