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|Title:||Autonomous bipedal walking gait adjustment under perturbations||Authors:||Yang, L.
|Keywords:||Q learning CMAC network real-time walking stride-frequency walking step-length||Issue Date:||2007||Citation:||Yang, L.,Chew, C.M.,Poo, A.N. (2007). Autonomous bipedal walking gait adjustment under perturbations. Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007 : 309-318. ScholarBank@NUS Repository.||Abstract:||This work focuses on the walking stride-frequency autonomous adjustment in response to the environment perturbations. Reinforcement learning is assigned to supervise the stride-frequency. A simple momentum estimation further assisted the adjustment. In the learning agent, a sorted action-choose table instructed the learning to find out the proper action in a straightforward way. Incorporating the real-time steplength adjustment mode, the presented gait adjustment is able to achieve different pace walking adaptive to the environment. Dynamic simulation result shows the supervision is effective. © 2007 World Scientific Publishing Co. Pte. Ltd.||Source Title:||Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007||URI:||http://scholarbank.nus.edu.sg/handle/10635/73216||ISBN:||9812708154|
|Appears in Collections:||Staff Publications|
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