A Reinforcement Learning-Based Hierarchical Control Method for Salamander Robot Path Tracking

A technology of reinforcement learning and hierarchical control, applied in the control of finding targets, two-dimensional position/course control, vehicle position/route/altitude control, etc., can solve problems such as algorithm consumption, parameter optimization complexity, and large computing resources , to achieve the effect of eliminating static error, improving tracking accuracy and good control effect
CN111552301BActive Publication Date: 2022-05-20NANKAI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NANKAI UNIV
Publication Date
2022-05-20

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Abstract

A Reinforcement Learning-Based Hierarchical Control Method for Salamander Robotic Path Following. Aiming at the path tracking problem of the salamander bionic robot, a layered control framework is established, including the upper controller based on reinforcement learning and the lower controller based on inverse kinematics, which realizes the tracking target path of the salamander bionic robot. Specifically, for the upper controller, the state space representation, action space representation and reward function are designed based on the softActor‑Critic (actor‑critic) algorithm, which can improve tracking accuracy and eliminate static errors. For the underlying controllers, a leg controller and a spine controller based on inverse kinematics are established. Finally, the controller trained by the robot in the simulation environment is migrated to the real environment to verify the feasibility and generalization ability of the algorithm. Experimental results show that the present invention can better complete the control target, and shows a better control effect in terms of migration and generalization from simulation to reality.
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Description

technical field

[0001] The invention belongs to the technical field of bionic robot path tracking control, in particular to a layered control method for salamander robot path tracking based on reinforcement learning. Background technique

[0002] The development of robots for field search and rescue has become a hot field of robotics research. The search and rescue scenes are usually narrow and the terrain is complex. These places are dangerous and difficult for rescuers to reach. Using robots to assist rescue teams to explore and obtain information, The efficiency of rescue can be improved. A key characteristic of animals is their ability to move efficiently in their environment. This basic but amazing ability is the result of millions of years of evolution. Its flexibility and energy efficiency far exceed the level of robots. Therefore, the bionic robot is designed according to the body structure of the animal, hoping to achieve the same control effect. The bionic robot i...

Claims

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