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|Title:||Autonomous bipedal walking pace supervision under perturbations|
|Citation:||Yang, L., Chew, C.-M., Poo, A.-N. (2007). Autonomous bipedal walking pace supervision under perturbations. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics : 765-770. ScholarBank@NUS Repository. https://doi.org/10.1109/ICSMC.2007.4413595|
|Abstract:||This paper presented a method of bipedal walking pace supervision by the adjustment of stride-frequency and step-length simultaneously. A reinforcement learning algorithm is designed to learn the walking stride-frequency; A transition plan aims to adjust the step-length or update motion phases according to the dynamic feedback; A momentum based estimation gives another layer of stride-frequency adjustment when the learning agent has not gained enough experiences. Simulation experiments showed this learning based motion supervision is effective for maintaining stable walking under perturbations with a balanced performance of energy consumption and robustness. ©2007 IEEE.|
|Source Title:||Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics|
|Appears in Collections:||Staff Publications|
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