Integration of CoG Estimation and Torque Control and Utilizing Reinforcement Learning to Enhance Walking Stability in Bipedal Robots
碩士 === 國立清華大學 === 動力機械工程學系 === 106 === This thesis aims to improve walking stability in bipedal robots through integrate torque control and CoG estimation. In addition, we utilize reinforcement learning to make walking direction of the robot more straight. The cart table model is used as dynamic mod...
| Main Authors: | , |
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2018
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| Online Access: | http://ndltd.ncl.edu.tw/handle/7yfthz |