M-A3C: A Mean-Asynchronous Advantage Actor-Critic Reinforcement Learning Method for Real-Time Gait Planning of Biped Robot
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3176608
Abstract: Bipedal walking is a challenging task for humanoid robots. In this study, we develop a lightweight reinforcement learning method for real-time gait planning of the biped robot.We regard bipedal walking as a process in which… read more here.
Keywords: gait planning; reinforcement learning; gait; biped robot ... See more keywords
Slope Gradient Adaptive Gait Planning for Walking Assistance Lower Limb Exoskeletons
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2020.3037973
Abstract: In recent years, lower limb exoskeletons have gained considerable interest in applications of walking assistance for paraplegic patients. In daily lives, the exoskeleton should have the ability to help the patients to walk over different… read more here.
Keywords: adaptive gait; limb exoskeletons; slope gradient; gait planning ... See more keywords
Velocity-Based Gait Planning for Underactuated Bipedal Robot on Uneven and Compliant Terrain
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2021.3125671
Abstract: This article develops a gait planning method for underactuated bipedal robot on uneven and compliant terrain. First, we employ a linear spring-damper model to describe foot-ground compliant contact, and establish a decoupled robot–ground three-dimensional dynamic… read more here.
Keywords: compliant terrain; underactuated bipedal; uneven compliant; gait planning ... See more keywords
Gait planning of a scale-driven snake-like robot for winding and obstacle crossing
Sign Up to like & getrecommendations! Published in 2017 at "Advances in Mechanical Engineering"
DOI: 10.1177/1687814017731038
Abstract: Gait planning is an effective approach aiming at the difficulty in locomotion control of a multi-degree-of-freedom snake-like robot. In this article, a gait-generating method is presented with regard to the issue of its locomotion control… read more here.
Keywords: like robot; gait planning; snake like; obstacle ... See more keywords
Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881420976344
Abstract: This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints.… read more here.
Keywords: gait planning; multi objective; jaya; stable gait ... See more keywords
Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot
Sign Up to like & getrecommendations! Published in 2017 at "Applied Sciences"
DOI: 10.3390/app7030296
Abstract: Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning… read more here.
Keywords: gait planning; load ratio; large load; legged robot ... See more keywords