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Gait analysis of a six-legged walking robot using fuzzy reward reinforcement learning

Shahriari, M ; Sharif University of Technology | 2013

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  1. Type of Document: Article
  2. DOI: 10.1109/IFSC.2013.6675621
  3. Publisher: IEEE Computer Society , 2013
  4. Abstract:
  5. Free gait becomes necessary in walking robots when they come to walk over discontinuous terrain or face some difficulties in walking. A basic gait generation strategy is presented here using reinforcement learning and fuzzy reward approach. A six-legged (hexapod) robot is implemented using Q-learning algorithm. The learning ability of walking in a hexapod robot is explored considering only the ability of moving its legs and using a fuzzy rewarding system telling whether and how it is moving forward. Results show that the hexapod robot learns to walk using the presented approach properly
  6. Keywords:
  7. Fuzzy systems ; Gait analysis ; Learning algorithms ; Mobile robots ; Free gait ; Gait generation ; Hexapod ; Hexapod robots ; Learning abilities ; Q-learning algorithms ; Six-legged walking robots ; Walking robots ; Reinforcement learning
  8. Source: 13th Iranian Conference on Fuzzy Systems, IFSC 2013 ; August , 2013 , Page(s): 1 - 4 ; ISBN: 9781479912278
  9. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6675621