Estimating Biped Gait Using Spline-Based Probability Distribution Function With Q-Learning
IEEE Transactions on Industrial Electronics(2008)
摘要
This paper studies the probability distribution functions of the parameters to be learned and optimized in biped gait generation. By formulating the gait pattern generation into a multiobjective optimization problem with consideration of geometric and state constraints, dynamically stable and low energy cost biped gaits are generated and optimized by the proposed method, namely Spline-based Estima...
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关键词
Spline,Probability distribution,Electronic design automation and methodology,Humanoid robots,Legged locomotion,Constraint optimization,Sun,Stability,Intelligent robots,Intelligent control
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