Poincare-Map-Based Reinforcement Learning for Biped Walking

Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Chris Atkeson, and Garth Zeglin
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), May, 2005.


Download
  • Adobe portable document format (pdf) (452KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately modulate an observed walking pattern. Via-points are detected from the observed walking trajectories using the minimum jerk criterion. The learning algorithm modulates the via-points as control actions to improve walking trajectories. This decision is based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state in the single support phase and the control actions to a state in the next single support phase. We applied this approach to both a simulated robot model and an actual biped robot. We show that successful walking policies are acquired.

Notes
Associated Project(s): Dynamic Biped
Number of pages: 6

Text Reference
Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Chris Atkeson, and Garth Zeglin, "Poincare-Map-Based Reinforcement Learning for Biped Walking," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), May, 2005.

BibTeX Reference
@inproceedings{Morimoto_2005_5593,
   author = "Jun Morimoto and Jun Nakanishi and Gen Endo and Gordon Cheng and Chris Atkeson and Garth Zeglin",
   title = "Poincare-Map-Based Reinforcement Learning for Biped Walking",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05)",
   month = "May",
   year = "2005",
}