Fuzzy Double Deep Q-Network-Based Gait Pattern Controller for Humanoid Robots

Tzuu-Hseng S. Li,Ping-Huan Kuo, Lin-Han Chen,Chia-Ching Hung,Po-Chien Luan,Hao-Ping Hsu,Chien-Hsin Chang,Yi-Ting Hsieh,Wen-Hsun Lin

IEEE Transactions on Fuzzy Systems（2022）

引用 9|浏览30

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摘要

In this article, the adaptive-network-based fuzzy inference system (ANFIS) is combined with the double deep Q-network (DDQN) to realize a fuzzy DDQN (FDDQN) such that a humanoid robot can generate a linear inverted pendulum model-based gait pattern in real time. The FDDQN not only allows the humanoid robot to correct the gait pattern instantly but also improves its stability. The ...

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关键词

Humanoid robots,Legged locomotion,Robot sensing systems,Control systems,Neural networks,Force

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