Walking Algorithm of Apollo3D-The World Champion in the RoboCup2013 3D Soccer Simulation Competition
Quick and agile walking is indispensable for humanoid robots in the RoboCup soccer competition.So this paper mainly proposed a method to develop a flexible walking based on reinforcement learning for soccer robots.First,a linear inverted pendulum model with a predictive control is applied to generate a motion trajectory of the robots trunk.Then,the Cerebellar Model Articulation Controller(CMAC)method is employed to optimize the walking parameters to keep dynamic balance of robots.Our team Apollo3D employed this walking skill,and won the first place in RoboCup 2013 3D simulation competition by winning 53 goals.
CMAC preview control linear inverted pendulum trunk trajectory
ZHAO Hecheng LIANG Zhiwei
College of Automation,Nanjing University of Posts and Telecommunications,Nanjing 210046,China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8331-8334
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）