Optimal balancing control of bipedal robots using reinforcement learning

The balance control a bipedal robot in the presence of external disturbances is still a challenge. In this paper, a novel optimal ankle stiffness regulation for humanoid robot balancing problem is proposed. The presented techniques are developed based on the integral reinforcement learning (IRL) alg...

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Bibliographic Details

Published in:	2016 12th World Congress on Intelligent Control and Automation (WCICA) pp. 2186 - 2191
Main Authors:	Fang Peng, Lijia Ding, Zhijun Li, Chenguang Yang, Chun-Yi Su
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.06.2016
Subjects:	Cost function Impedance Mathematical model Riccati equations Robot kinematics Torque
Online Access:	Get full text
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