Modeling and reinforcement learning-based locomotion control for a humanoid robot with kinematic loop closures

Humanoid robots are complex multibody systems, and modeling and locomotion control for them are challenging tasks. In this paper, a rigid multibody model is first built for a home-made humanoid robot with kinematic loop closures. The inverse kinematics solutions based on geometric relationships are...

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Veröffentlicht in:	Multibody system dynamics Jg. 65; H. 2; S. 239 - 265
Hauptverfasser:	Tang, Lingling, Liang, Dingkun, Gao, Guang, Wang, Xin, Xie, Anhuan
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Dordrecht Springer Netherlands 01.10.2025 Springer Nature B.V
Schlagworte:	Automotive Engineering Control Deep learning Dynamical Systems Electrical Engineering Engineering Feet Gait Humanoid Inverse kinematics Kinematics Locomotion Mechanical Engineering Modelling Multibody systems Optimization Robot control Robot dynamics Symmetry Tracking Vibration Whole-body coordination Locomotion control Inverse kinematics Gait symmetry Reinforcement learning Humanoid robot
ISSN:	1384-5640, 1573-272X
Online-Zugang:	Volltext
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