Lower Limb Actuation of a Humanoid Robot for Locomotion Using Reinforcement Learning

Soto J.M.S.; Arapa C.A.D. · 2023 17th International Conference on Engineering of Modern Electric Systems, EMES 2023 (2023) · DOI: 10.1109/emes58375.2023.10171674

Resumen

Research in the field of robotics is complex, especially when talking about humanoid robots. The problem of gait of the robots is one that several researchers have previously faced, proposing different models throughout history but without a completely accurate result. That is why in the present thesis we seek to propose a way of walking based on machine learning, more specifically on reinforcement learning algorithms. This method seeks to make the robot walk as close as possible to the gait of a person, using a database extracted from various tests in order to teach the robot how humans walk.

Instituciones: Universidad Nacional de San Agustín de Arequipa