Journal
2019 THIRD IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC 2019)
Volume -, Issue -, Pages 488-492Publisher
IEEE
DOI: 10.1109/IRC.2019.00102
Keywords
component; bipedal robot; humanoid robot; push recovery; balancing control; reinforcement learning
Categories
Funding
- Ministry of Trade, Industry & Energy(MOTIE, Korea) under Industrial Technology Innovation Program [10067414, 10070258, 10076477, 10080348]
- Basic Science Research Program through the National Research Foundation of Korea(NRF) - Ministry of Education [2016R1D1A1A02936946]
- Korea Evaluation Institute of Industrial Technology (KEIT) [10080348, 10070258, 10076477, 10067414] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- National Research Foundation of Korea [2016R1D1A1A02936946] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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A humanoid robot similar to a human is structurally unstable, so the push recovery control is essential. The proposed push recovery controller consists of a IMU sensor part, a high-level push recovery controller and a low-level push recovery controller. The IMU sensor part measures the linear velocity and angular velocity and transmits it to the high-level push recovery controller. The high-level push recovery controller selects the strategy of the low-level push recovery controller based on the stability region. The stability region is improved using the DQN(Deep Q-Network) of the reinforcement learning method. The low-level push recovery controller consists of a ankle, hip and step strategies. Each strategy is analyzed using LIPM(Linear Inverted Pendulum Model). Based on the analysis, the actuators corresponding to each strategy are controlled.
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