Omnidirectional Walk of Biped Robots in RoboCup3D Simulation Environment

摘要：

　　This paper mainly describes the omnidirectional walking motion design of humanoid robot soccer team called Apollo3D.In this paper,we employed a model which is based on double linear inverted pendulum with a predictive control to generate a motion trajectory of the robots trunk in the premise of keeping dynamic balance of robots.Parameters for walk are optimized for maximum speed through an approach of Q-learning algorithm.With this walking skill,ultimately,we realized rapidly and stably omnidirectional walk of biped robot in complex and dynamic environment.Experimental results have revealed the effectiveness of the proposed design method in this paper.

关键词： Biped Robots Omnidirectional Walk Double Linear Inverted Pendulum Q-Learning Algorithm

作者: Ping Shen Zhiwei Liang Xuejun Li

作者单位: College of Automation,Nanjing University of Posts and Telecommunications,Nanjing 210046,China

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 2119-2123

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）