Dynamic walking control of humanoid robots combining linear inverted pendulum mode with parameter optimization
To improve the robustness of biped walking, a model parameters optimization method based on policy gradient decent learning is presented. For the linear inverted pendulum mode-based model parameters optimization, firstly, select the input parameters of the inverted pendulum model and the torso attit...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881417749672 |