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Stability Control of a Biped Robot on a Dynamic Platform Based on Hybrid Reinforcement Learning
In this work, we introduced a novel hybrid reinforcement learning scheme to balance a biped robot (NAO) on an oscillating platform, where the rotation of the platform is considered as the external disturbance to the robot. The platform had two degrees of freedom in rotation, pitch and roll. The stat...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2020
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| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7472320/ https://www.ncbi.nlm.nih.gov/pubmed/32785092 http://dx.doi.org/10.3390/s20164468 |