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Open AccessArticle

Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform

1
Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
2
Department of Computer Science, University of Manitoba, Winnipeg, MB R3T 2N2, Canada
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(6), 615; https://doi.org/10.3390/electronics8060615
Received: 12 May 2019 / Revised: 29 May 2019 / Accepted: 30 May 2019 / Published: 31 May 2019
(This article belongs to the Special Issue Motion Planning and Control for Robotics)
In this paper, an oscillator-based gait pattern with sinusoidal functions is designed and implemented on a field-programmable gate array (FPGA) chip to generate a trajectory plan and achieve bipedal locomotion for a small-sized humanoid robot. In order to let the robot can walk straight, the turning direction is viewed as a parameter of the gait pattern and Q-learning is used to obtain a straightforward gait pattern. Moreover, an automatic training platform is designed so that the learning process is automated. In this way, the turning direction can be adjusted flexibly and efficiently under the supervision of the automatic training platform. The experimental results show that the proposed learning framework allows the humanoid robot to gradually walk straight in the automated learning process. View Full-Text
Keywords: humanoid robot; gait pattern; trajectory planning; bipedal locomotion; Q-learning humanoid robot; gait pattern; trajectory planning; bipedal locomotion; Q-learning
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Wong, C.-C.; Liu, C.-C.; Xiao, S.-R.; Yang, H.-Y.; Lau, M.-C. Q-Learning of Straightforward Gait Pattern for Humanoid Robot Based on Automatic Training Platform. Electronics 2019, 8, 615.

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