Research on Disturbance Immunity Balance Control of Biped Robot Based on ESO-DDPG

The current research on biped robots is mostly concentrated on ideal conditions, while in reality, the robot system is always subject to many external disturbances and internal parameter perturbations, which will lead to such defects as weak anti-interference ability, low real-time performance, low...

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Veröffentlicht in:	Proceedings (International Conference on Informative and Cybernetics for Computational Social Systems. Online) S. 73 - 78
Hauptverfasser:	Yu, Jianjun, Zhu, Ruihua, Gong, Daoxiong, Yu, Naigong, Zhou, Miaoqiang
Format:	Tagungsbericht
Sprache:	Englisch
Veröffentlicht:	IEEE 02.06.2023
Schlagworte:	balance control biped robot deep deterministic policy gradient extended state observer Legged locomotion Observers Perturbation methods Reinforcement learning Torque Training Trajectory tracking
ISSN:	2639-4235
Online-Zugang:	Volltext
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