Quadruped robot motion control method based on reinforcement learning and position increment

A quadruped robot and robot movement technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of unobtainable performance motion control strategy, motor damage, increasing reward function design and parameter adjustment difficulty, etc. problems, to avoid permanent physical damage to the motor, to avoid mutations, to reduce the difficulty of manual design and the effect of human labor burden

Pending Publication Date: 2022-05-31
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the nonlinearity of the neural network, the position of the motor directly generated by the neural network will undergo a large mutation, and the motor needs to output a huge torque to track the target position, which will easily cause physical damage to the motor
Although this problem can b

Method used

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  • Quadruped robot motion control method based on reinforcement learning and position increment
  • Quadruped robot motion control method based on reinforcement learning and position increment
  • Quadruped robot motion control method based on reinforcement learning and position increment

Examples

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Example Embodiment

[0038] Example 1

[0039] In an exemplary embodiment of the present invention, as Figure 1-Figure 4 As shown, a motion control method for quadruped robot based on reinforcement learning and position increment is presented.

[0040] like figure 1 As shown, different from the existing gait control methods of quadruped robots, this embodiment proposes a quadruped robot motion control method based on reinforcement learning and position increment, which allows the quadruped robot to learn the sole of each time step. The amount of change in position, avoiding abrupt changes in control commands, enables the quadruped robot to learn smooth and coordinated movements within the RL framework and reduces the difficulty of hyperparameter tuning during the training phase. Reinforcement learning needs to interact with the environment to learn, and the trial-and-error and randomness of the strategy in the early stage of training is likely to cause irreversible damage and damage to the robo...

Example Embodiment

[0087] Example 2

[0088] In another exemplary embodiment of the present invention, as Figure 1-Figure 4 As shown, a motion control system for quadruped robot based on reinforcement learning and position increment is presented.

[0089] include:

[0090] an information acquisition module, configured to: acquire motion environment information, quadruped robot posture information and sole position information;

[0091] Incremental calculation module: configured to: based on the obtained information, generate the position of the sole of the foot in each preset time step when the quadruped robot moves, and calculate the variation of the position of the sole of the foot in each time step;

[0092] The trajectory planning module is configured to: take the maximum moving distance in a single time step as a constraint, and accumulate the time step to obtain the plantar position trajectory;

[0093] The action control module is configured to: control the quadruped robot to perform ...

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Abstract

The invention provides a quadruped robot motion control method based on reinforcement learning and position increment, which relates to the field of quadruped robot control and comprises the following steps: acquiring motion environment information, quadruped robot attitude information and sole position information; on the basis of the acquired information, generating a sole position in each preset time step when the quadruped robot moves, and calculating the variation of the sole position in each time step; with the maximum moving distance in a single time step as a constraint, accumulating the time steps to obtain a sole position track; controlling the quadruped robot to execute corresponding actions on the basis of the plantar position track in combination with a preset reward function, so as to enable the quadruped robot to keep motion balance; in order to solve the problem that motor damage is caused by large sudden change of the position of a motor generated in an existing quadruped robot motion control method, sudden change of a control command is avoided by restraining the foot bottom position variable quantity of the quadruped robot in each time step, and the capacity of the quadruped robot for passing through the complex terrain is enhanced.

Description

technical field [0001] The invention relates to the field of quadruped robot control, in particular to a quadruped robot motion control method based on reinforcement learning and position increment. Background technique [0002] Quadruped robots are widely used in surveillance patrols, environmental reconnaissance, and transportation supply scenarios. On the other hand, the flexibility and adaptability of quadruped robots make their dynamic characteristics more complex, which makes it a great challenge to realize animal-like motion of quadruped robots. The basis and premise of the realization of the specific functions of the robot. [0003] The motion control of quadruped robots is mainly divided into two categories: model-based methods and reinforcement learning-based methods. [0004] (1) Traditional modeling control method [0005] The traditional modeling control method performs feature extraction according to the robot state information and obtains valuable informati...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张伟盛嘉鹏陈燕云方兴谭文浩
Owner SHANDONG UNIV
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