This work focuses on the stride-frequency and step-length autonomous adjustment in response to the environment perturbations. Reinforcement learning is assigned to supervise the stride-frequency. A simple momentum estimation further promised 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 step-length real-time adjustment mode, the biped is able to smoothly transit motions and walk adaptively to the environment. Dynamic simulation results showed that the supervision is effective.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Fukuoka Y, Kimura H and Cohen A-H (2003) Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts The Int. Journal of Robotics Research 22(3-4): 187-202
Dutra S, Filho P and Romano F (2004) Modeling of a bipedal locomotor using coupled nonlinear oscillators of Van der Pol Bio. Cybernetics 88(4): 286-292
Yang L, Chew C-M, Poo A-N and Zielinska T (2006) Adjustable Bipedal Gait Generation Using Genetic Algorithm Optimized Fourier Series Formulation In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 4435-4440
Yang L, Chew C-M, Zielinska T and Poo A-N (2007) A Uniform Biped Gait Generator with Off-line Optimization and On-line Adjustable Parameters Int. Journal of Robotica accepted
Yang L, Chew C-M, Poo A-N and Zielinska T (2006) Adjustable Bipedal Gait Generation using GA Optimized Fourier Series Formulation: Real-time Gait Adjustment In: Proceedings of the Int. Conf. on the Autonomous Robots and Agents (ICARA) 111-116 New Zealand
John N-T (1994) Asynchronous stochastic approximation and q-learning Machine Learning 16(3): 185-202
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Yang, L., Chew, CM., Poo, AN., Zielinska, T. (2007). Autonomous Stride-Frequency and Step-Length Adjustment for Bipedal Walking Control. In: Mukhopadhyay, S.C., Gupta, G.S. (eds) Autonomous Robots and Agents. Studies in Computational Intelligence, vol 76. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73424-6_22
Download citation
DOI: https://doi.org/10.1007/978-3-540-73424-6_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73423-9
Online ISBN: 978-3-540-73424-6
eBook Packages: EngineeringEngineering (R0)