Research on gait control of humanoid robot based on DDPG algorithm

Jiali Ding; Junjie Lu; Jun Zhang; Chang Li; Zixin Huang; Lejun Wang

doi:10.1117/12.3039486

4 September 2024 Research on gait control of humanoid robot based on DDPG algorithm

Jiali Ding, Junjie Lu, Jun Zhang, Chang Li, Zixin Huang, Lejun Wang

Proceedings Volume 13259, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2024); 132590F (2024) https://doi.org/10.1117/12.3039486
Event: Fourth International Conference on Automation Control, Algorithm, and Intelligent Bionics (ICAIB 2024), 2024, Yinchuan, China

Abstract

Humanoid robot has broad application prospects in services, entertainment, medical care, rescue, and other fields. Therefore, research on the stable walking problem of humanoid robot is particularly important. To solve this problem, this paper proposes a gait control method for humanoid robot according to reinforcement learning. We established a linkage model for humanoid robot and simplified it into a linear inverted pendulum model which was used for motion control of humanoid robot. Using DDPG network as an intelligent agent to train humanoid robot in gait control in a simulation environment. Due to the combination of DDPG and DQN structure, the stability and convergence of strategy network and critical network have been improved. The MATLAB simulation results show that under the action of the DDPG algorithm, the humanoid robot can walk smoothly along the predetermined trajectory through reinforcement learning.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jiali Ding, Junjie Lu, Jun Zhang, Chang Li, Zixin Huang, and Lejun Wang "Research on gait control of humanoid robot based on DDPG algorithm", Proc. SPIE 13259, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2024), 132590F (4 September 2024); https://doi.org/10.1117/12.3039486

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