Walking motion generation, synthesis, and control for biped robot by using PGRL, LPI, and fuzzy logic

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 41, Issue 3, 2011, Pages 736-748

  Li, Tzuu Hseng S ^a   Su, Yu Te ^a   Lai, Shao Wei ^a   Hu, Jhen Jia ^a  

^a NATIONAL CHENG KUNG UNIVERSITY   (Taiwan)

Author keywords

Biped robot; fuzzy logic control (FLC); Lagrange polynomial interpolation (LPI); policy gradient reinforcement learning (PGRL)

Indexed keywords

BIPED ROBOT; DYNAMIC FUNCTIONS; FUZZY LOGIC CONTROL (FLC); FUZZY MOTION CONTROLLERS; GAIT LEARNING; GAIT SYNTHESIS; LAGRANGE POLYNOMIALS; LEARNING PROCESS; MACHINE-LEARNING; PARAMETERIZED; POLICY GRADIENT; POLICY GRADIENT REINFORCEMENT LEARNING (PGRL); REAL TIME PERFORMANCE; REWARD FUNCTION; STABILITY PROBLEM; STABLE WALKING; VISION SYSTEMS; WALKING GAIT; WALKING MOTION; WALKING SPEED; ZERO MOMENT POINT;

CONTROL THEORY; EXPERIMENTS; FUZZY SYSTEMS; INTERPOLATION; LAGRANGE MULTIPLIERS; LEARNING ALGORITHMS; MOTION CONTROL; REINFORCEMENT LEARNING; ROBOTS; TARGET TRACKING;

FUZZY LOGIC;

ALGORITHM; ARTICLE; ARTIFICIAL INTELLIGENCE; COMPUTER SIMULATION; FEEDBACK SYSTEM; FUZZY LOGIC; GAIT; METHODOLOGY; ROBOTICS; THEORETICAL MODEL; WALKING;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; COMPUTER SIMULATION; FEEDBACK, PHYSIOLOGICAL; FUZZY LOGIC; GAIT; MODELS, THEORETICAL; ROBOTICS; WALKING;

EID: 79957534331     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2010.2089978     Document Type: Article

References (36)

1. J. Kwon and F. C. Park, "Natural movement generation using hidden Markov models and principal components," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 38, no. 5, pp. 1184-1194, Oct. 2008.
2. J. X. Xu and W. Wang, "A general internal model approach for motion learning," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 38, no. 2, pp. 477-487, Apr. 2008. (Pubitemid 351479566)
3. B. Kim, J. Park, S. Park, and S. Kang, "Impedance learning for robotic contact tasks using natural actor-critic algorithm," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 40, no. 2, pp. 433-443, Apr. 2010.
4. J. H. Park and E. S. Kim, "Foot and body control of biped robots to walk on irregularly protruded uneven surfaces," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 39, no. 1, pp. 289-297, Feb. 2009.
5. X. Mu and Q. Wu, "On impact dynamics and contact events for biped robots via impact effects," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 36, no. 6, pp. 1364-1372, Dec. 2006. (Pubitemid 46405767)
6. P. R. Vundavilli and D. K. Pratihar, "Soft computing-based gait planners for a dynamically balanced biped robot negotiating sloping surfaces," Appl. Soft Comput., vol. 9, no. 1, pp. 191-208, Jan. 2009.
7. C. Fu and K. Chen, "Gait synthesis and sensory control of stair climbing for a humanoid robot," IEEE Trans. Ind. Electron., vol. 55, no. 5, pp. 2111-2120, May 2008. (Pubitemid 351756247)
8. A. W. Salatian, K. Y. Yi, and Y. F. Zheng, "Reinforcement learning for a biped robot to climb sloping surfaces," J. Robot. Syst., vol. 14, no. 4, pp. 283-296, 1998.
9. A. L. Kun and W. T. Miller, "Control of variable-speed gaits for a biped robot," IEEE Robot. Autom. Mag., vol. 6, no. 3, pp. 19-29, Sep. 1999. (Pubitemid 30505592)
10. H. K. Lum, M. Zribi, and Y. C. Soh, "Planning and control of a biped robot," Int. J. Eng. Sci., vol. 37, no. 10, pp. 1319-1349, Aug. 1999.
11. Z. Liu, C. Li, and W. Xu, "Hybrid control of biped robots in the doublesupport phase via H8 approach and fuzzy neural networks," Proc. Inst. Elect. Eng.-Control Theory Appl., vol. 150, no. 4, pp. 347-354, Jul. 2003.
12. A. Chemori and A. Loria, "Control of a planar underactuated biped on a complete walking cycle," IEEE Trans. Autom. Control, vol. 49, no. 5, pp. 838-843, May 2004.
13. Z. Liu, Y. Zhang, and Y. Wang, "A type-2 fuzzy switching control system for biped robots," IEEE Trans. Syst., Man, Cybern. C, Appl. Rev., vol. 37, no. 6, pp. 1202-1213, Nov. 2007. (Pubitemid 350130712)
14. K. C. Choil, H. J. Lee, and M. C. Lee, "Fuzzy posture control for biped walking robot based on force sensor for ZMP," in Proc. IEEE Joint Conf. SICE-ICASE, Oct. 2006, pp. 1185-1189. (Pubitemid 46950386)
15. C. M. Lin and C. H. Chen, "Robust fault-tolerant control for a biped robot using a recurrent cerebellar model articulation controller," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 37, no. 1, pp. 110-123, Feb. 2007.
16. M. C. Hwang and X. H. Hu, "A robust position/force learning controller of manipulators via nonlinear H8 control and neural networks," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 30, no. 2, pp. 310-321, Apr. 2000.
17. J. P. Ferreira, M. M. Crisóstomo, and A. P. Coimbra, "SVR versus neuralfuzzy network controllers for the sagittal balance of a biped robot," IEEE Trans. Neural Netw., vol. 20, no. 12, pp. 1885-1897, Dec. 2009.
18. J. G. Juang, "Fuzzy neural network approaches for robotic gait synthesis," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 30, no. 4, pp. 594-601, Aug. 2000.
19. Z. Liu and C. Li, "Fuzzy neural networks quadratic stabilization output feedback control for biped robots via H8 approach," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 33, no. 1, pp. 67-84, Feb. 2003.
20. R. S. Sutton and A. G. Barto, Introduction to Reinforcement Learning. Cambridge, MA: MIT Press, 1998.
21. R. Tedrake, T. W. Teresa, and H. S. Seung, "Stochastic policy gradient reinforcement learning on a simple 3D biped," in Proc. IEEE Int. Conf. Robots Syst., 2004, vol. 3, pp. 2849-2854. (Pubitemid 40276027)
22. J. Morimoto, G. Cheng, C. G. Atkeson, and G. Zeglin, "A simple reinforcement learning algorithm for biped walking," in Proc. IEEE Int. Conf. Robot. Autom., 2004, vol. 3, pp. 3030-3035.
23. T. McGeer, "Passive dynamic walking," Int. J. Robot. Res., vol. 9, no. 2, pp. 62-82, Apr. 1990. (Pubitemid 20683007)
24. E. Schuitema, D. G. E. Hobbelen, P. P. Jonker, J. G. D. Karssen, and M. Wisse, "Using a controller based on reinforcement learning for a passive dynamic walking robot," in Proc. IEEE Int. Conf. Humanoid Robots, 2005, pp. 232-237. (Pubitemid 46170820)
25. Y. Mao, J. Wang, and Z. Han, "Using a reinforcement learning based method to control a dynamic walking robot," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2007, pp. 3609-3614.
26. S. Wang, J. Braaksma, R. Babuska, and D. Hobbelen, "Reinforcement learning control for biped robot walking on uneven surfaces," in Proc. IEEE Int. Conf. Neural Netw., 2006, pp. 4173-4178. (Pubitemid 351369890)
27. K. Hitomi, T. Shibata, Y. Nakamaru, and S. Ishii, "Reinforcement learning for quasi-passive dynamic walking of an unstable biped robot," Robot. Auton. Syst., vol. 54, no. 12, pp. 982-988, Dec. 2006. (Pubitemid 46053753)
28. Y. Nakamura, T. Mori, M. Sato, and S. Ishii, "Reinforcement learning for a biped robot based on a CPG-actor-critic method," Neural Netw., vol. 20, no. 6, pp. 723-735, Aug. 2007. (Pubitemid 47239376)
29. D. Katić, A. Rodić, and M. Vukobratović, "Reinforcement learning control algorithm for humanoid robot walking," Int. J. Inform. Syst. Sci., vol. 4, no. 2, pp. 256-267, 2007.
30. J. Lee and J. H. Oh, "Biped walking pattern generation using reinforcement learning," Int. J. Humanoid Robot., vol. 6, no. 1, pp. 1-21, Mar. 2009.
31. L. Hu and Z. Sun, "Reinforcement learning method-based stable gait synthesis for biped robot," in Proc. IEEE Int. Conf. Control, Autom., Robot. Vis., Dec. 2004, vol. 2, pp. 1017-1022. (Pubitemid 40893696)
32. N. Kohl and P. Stone, "Policy gradient reinforcement learning for fast quadrupedal locomotion," in Proc. IEEE Int. Conf. Robot. Autom., May 2004, vol. 3, pp. 2619-2624.
33. S. Ito, Y. Aoyama, and H. Kawasaki, "A static balance control under periodic external force," in Proc. SICE Annu. Conf., Aug. 2003, vol. 2, pp. 1967-1972.
34. S. H. Liu, "Design and implementation of a gait pattern generator based on genetic algorithms and fuzzy control for small-sized humanoid robot by using SOPC," M.S. thesis, Nat. Cheng Kung Univ., Tainan City, Taiwan, Jul. 2008.
35. K. Erbatur and O. Kurt, "Natural ZMP trajectories for biped robot reference generation," IEEE Trans. Ind. Electron., vol. 56, no. 3, pp. 835-845, Mar. 2009.
36. J. P. Berrut and L. N. Trefethen, "Barycentric Lagrange interpolation," SIAM Rev., vol. 46, no. 3, pp. 501-517, Sep. 2004.