Multi-legged robot motion control method based on depth deterministic strategy gradient

Abstract

The invention relates to the technical field of multi-legged robot motion control, in particular to a multi-legged robot motion control method based on depth deterministic strategy gradient. According to the method, a depth deterministic strategy gradient intelligent body structure is constructed, and an action network is extracted from the finally trained intelligent body network structure to serve as a control strategy of a real robot to construct the real robot, so that the technical problems that the robot lacks generalization ability on the unstructured terrain and is poor in environmental adaptability are solved; and a joint power supply mathematical model is introduced to distribute power supply power, the distribution scheme is defined in a motion rule of a simulation robot model, and motor output torque is adjusted through the power supply power distribution, so that setting of the output joint torque of the intelligent agent network structure is achieved, and the difference between the simulation environment and the real robot is reduced so as to make the robot motion control strategy in the simulation environment be better applied to the real robot.

Description

technical field [0001] The invention relates to the technical field of motion control of legged robots, in particular to a motion control method of multi-legged robots based on depth deterministic strategy gradients. Background technique [0002] With the continuous advancement of science and technology, the development of robot intelligence industry has made many breakthroughs. In many unknown and high-risk fields that humans are involved in, robots can replace people to complete many high-risk jobs, greatly reducing the difficulty and risk factor of people's work, so research on robots is beneficial to people's life and work. Great significance. [0003] Because the contact between the footed robot and the ground is point contact, it has a high degree of freedom joint design and a multi-support point foot structure design, which can realize real-time adjustment of the height of its center of gravity. It has better environmental adaptability and stability. At the same ti...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a multi-legged robot motion control method based on depth deterministic strategy gradient to solve the technical problems of traditional multi-legged robots lacking generalization ability and poor environmental adaptability on unstructured terrain

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