Yazar
Kormushev, P., Uğurlu, Regaip Barkan, Caldwell, D. G., Tsagarakis, N. G.
Basım Tarihi
2019-01
Basım Yeri
-
Springer Nature
Konu
Bipedal walking, Energy efficiency, Reinforcement learning, Passive compliance
Tür
Süreli Yayın
Dil
İngilizce
Dijital
Evet
Yazma
Hayır
Kütüphane
Özyeğin Üniversitesi
Demirbaş Numarası
0929-5593
Kayıt Numarası
a0ae91cf-57bb-4ed3-9446-ee83c9e30625
Lokasyon
Mechanical Engineering
Tarih
2019-01
Notlar
EU project AMARSi
Örnek Metin
Modern humanoid robots include not only active compliance but also passive compliance. Apart from improved safety and dependability, availability of passive elements, such as springs, opens up new possibilities for improving the energy efficiency. With this in mind, this paper addresses the challenging open problem of exploiting the passive compliance for the purpose of energy efficient humanoid walking. To this end, we develop a method comprising two parts: an optimization part that finds an optimal vertical center-of-mass trajectory, and a walking pattern generator part that uses this trajectory to produce a dynamically-balanced gait. For the optimization part, we propose a reinforcement learning approach that dynamically evolves the policy parametrization during the learning process. By gradually increasing the representational power of the policy parametrization, it manages to find better policies in a faster and computationally efficient way. For the walking generator part, we develop a variable-center-of-mass-height ZMP-based bipedal walking pattern generator. The method is tested in real-world experiments with the bipedal robot COMAN and achieves a significant 18% reduction in the electric energy consumption by learning to efficiently use the passive compliance of the robot.
DOI
10.1007/s10514-018-9697-6
Cilt
43
