Robot ambulation control method based on confirmation learning theory

A technology that determines the learning theory and walking control. It is applied in two-dimensional position/channel control, adaptive control, general control system, etc., and can solve the problems of huge calculation, time and energy waste.
CN101320251AInactive Publication Date: 2008-12-10SOUTH CHINA UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
SOUTH CHINA UNIV OF TECH
Publication Date
2008-12-10
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a robot walking control method based on the determined study theory. The method comprises the processes such as the establishment of robot walking model, the establishment of referenced gait model, the study on the neural network, the establishment of constant neural network, the completion of walking task by utilizing the constant RBF neural network, etc. The invention overcomes the disadvantages of learning ability in the current neural network study and the control method and realizes the accurate study of the unknown dynamic model of a robot closed-loop control system along the periodic gait track of the robot within a local area, and can study the effective knowledge of the system dynamics during the stable dynamic control process and apply the knowledge to the subsequent same or similar tasks successfully. The method not only can realize the rapid walking on the basis of energy saving, but also provides the powerful support for the development of the humanoid robots.
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Description

technical field

[0001] The invention relates to a humanoid robot walking control method, in particular to a robot gait learning and control method based on deterministic learning theory. Background technique

[0002] Today, with the rapid development of science and technology, robot systems have been widely used in many fields, such as medical treatment, industry, and so on. With the widespread application of robotic systems, intelligence and humanization have become an important direction of its development. Gait control of biped robots is a hot topic in the field of robot control. The inherent instability of the biped robot itself, the high-order coupling dynamics and the multi-stage nature of its gait make its walking control a very challenging subject.

[0003] With the development of neural computing science, neural networks have made great achievements in classification problems, pattern recognition, digital signal processing and many other fields. At present, there...

Claims

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