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.

Inactive Publication Date: 2008-12-10
SOUTH CHINA UNIV OF TECH
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  • Description
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Problems solved by technology

The repeated training process of the neural network will involve a

Method used

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  • Robot ambulation control method based on confirmation learning theory
  • Robot ambulation control method based on confirmation learning theory
  • Robot ambulation control method based on confirmation learning theory

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0071] Embodiment: The tracking control problem of 5-link planar robot to desired gait

[0072] (1) 5-link planar robot system model

[0073] The structure of the 5-link planar robot is as follows: figure 1 As shown, where x represents the distance the robot advances, z represents the height, and m 1 ~ m 5 Indicates the mass of each connecting rod, l 1 ~ l 5 Indicates the length of each connecting rod, q 1 ~q 5 Indicates the joint angle of each joint point, a 1 ~a 5 Indicates the distance from the center of gravity of each link to the joint point, x sw ,z sw is the trajectory position of the end of the robot’s dancing legs. The robot is composed of 5 connecting rods. Sensors are installed at the end points of the landing and each joint point of the connecting rods to measure the joint angular position. The controller outputs the torque and calculates the angular velocity through the joint angle. The dynamic model of its walking is as follows:

[0074] Single foot su...

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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.

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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Application Information

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IPC IPC(8): G05B13/02G05D1/02
Inventor 王聪薛珍贵
Owner SOUTH CHINA UNIV OF TECH
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