Skip to main content
Have a personal or library account? Click to login
On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning Cover

On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning

Cybernetics and Information Technologies
Volume 12 (2012): Issue 3 (September 2012)
By: ,  ,   and    
Open Access
|Mar 2013
References

References

  1. 1. Kormushev, P., D. G. Caldwell. Simultaneous Discovery of Multiple Alternative Optimal Policies by Reinforcement Learning. - In: IEEE International Conference on Intelligent Systems 2012, Sofia, Bulgaria (Accepted).
    Open DOISearch in Google Scholar
  2. 2. Morimoto, J., G. Cheng, C. G. Atkeson, G. Zeglin. A Simple Reinforcement Learning Algorithm For Biped Walking. - In: IEEE International Conference on Robotics and Automation’2004, New Orleans, LA, USA.
    Open DOISearch in Google Scholar
  3. 3. Endo, G., J. Morimoto, T. Matsubara, J. Nakanishi, G. Cheng. Learning CPGBased Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot. - The International Journal of Robotics Research, Vol., 2008, No 2, 213-228.
    Open DOISearch in Google Scholar
  4. 4. Tedrake, R., T. W. Zhang, H. S. Seung. Stochastic Policy Gradient Reinforcement Learning on a Simple 3D Biped. - In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004, Sendai, Japan. 2849-2854.
    Search in Google Scholar
  5. 5. Wada, Y., K. Sumita. A Reinforcement Learning Scheme for Acquisition of Via-Point Representation of Human Motion. - In: IEEE International Joint Conference on Neural Networks’2004, Vols 1-4, 2004, 1109-1114.
    Search in Google Scholar
  6. 6. Kormushev, P., B. Ugurlu, S. Calinon, N. G. Tsagarakis, D. G. Caldwell. Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization. - In: IEEE/RSJ International Conference on Intelligent Robots and Systems’2011, San Francisco, CA, USA.
    Open DOISearch in Google Scholar
  7. 7. Kajita, S., F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, H. Hirukawa. Biped Walking Pattern Generation by a Simple Three-Dimensional Inverted Pendulum Model. - Advanced Robotics, Vol., 2003, No 2, 131-147.
    Open DOISearch in Google Scholar
  8. 8. Kajita, S., F. Kanehiro, K. Kaneko, K. Yokoi, H. Hirukawa. The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation. - In: IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), 2001, 239-246.
    Search in Google Scholar
  9. 9. Goswami, A., B. Thuilot, B. Espiau. A Study of the Passive Gait of a Compass-Like Biped Robot: Symmetry and Chaos. - International Journal of Robotics Research, Vol., 1998, No 12, 1282-1301.
    Open DOISearch in Google Scholar
  10. 10. Kajita, S., F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa. Biped Walking Pattern Generation by Using Preview Control of Zero- Moment Point. - In: IEEE International Conference on Robotics and Automation (ICRA), 2003. 1620-1626.
    Search in Google Scholar
  11. 11. Kajita, S., M. Morisawa, K. Miura, S. Nakaoka, K. Harada, K. Kaneko, F. Kanehiro, K. Yokoi. Biped Walking Stabilization Based on Linear Inverted Pendulum Tracking. - In: IEEE/Rsj International Conference on Intelligent Robots and Systems (IROS), 2010.
    Open DOISearch in Google Scholar
  12. 12. AMARSI. Adaptive Modular Architectures for Rich Motor Skills. EU Supported FP7 Project.
    Search in Google Scholar
  13. 13. Tsagarakis, G., N., Z. Li, J. Saglia, D. G. Caldwell. The Design of the Lower Body of the Compliant Humanoid Robot “cCub”. - In: IEEE International Conference on Robotics and Automation (ICRA), 2011, Shanghai, China.
    Open DOISearch in Google Scholar
  14. 14. Buchli, J., M. Kalakrishnan, M. Mistry, P. Pastor, S. Schaal. Compliant Quadruped Locomotion Over Rough Terrain. - In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009, St. Louis, USA.
    Open DOISearch in Google Scholar
  15. 15. Featherstone, R. Rigid Body Dynamics Algorithms. 1st Ed. New York, Springer 2008, Science+Business Media, LLC. 280.
    Open DOISearch in Google Scholar
  16. 16. Mistry, M., J. Nakanishi, G. Cheng, S. Schaal. Inverse Kinematics with Floating Base and Constraints for Full Body Humanoid Robot Control. - In: IEEE-RAS International Conference on Humanoid Robots, 2008, Daejeon, Korea.
    Open DOISearch in Google Scholar
  17. 17. Bishop, C. M. Pattern Recognition and Machine Learning. New York, Springer, 2006.
    Search in Google Scholar
DOI: https://doi.org/10.2478/cait-2012-0020 | Journal eISSN: 1314-4081 | Journal ISSN: 1311-9702 (formerly 1314-4081)
Journal RSS Feed
Language: English
Page range: 39 - 52
Published on: Mar 22, 2013
Published by: Bulgarian Academy of Sciences, Institute of Information and Communication Technologies
In partnership with: Paradigm Publishing Services
Keywords:
Humanoid robot walking,
compliance,
reinforcement learning
Related subjects:
Computer sciences,
Information technology

© 2013 Houman Dallali, Petar Kormushev, Zhibin Li, Darwin Caldwell, published by Bulgarian Academy of Sciences, Institute of Information and Communication Technologies
This work is licensed under the Creative Commons License.

Volume 12 (2012): Issue 3 (September 2012)
Previous article
Next article