计算机应用研究2013，Vol.30Issue(8)：2349-2352,4.DOI:10.3969/j.issn.1001-3695.2013.08.027
基于RBF-Q学习的四足机器人运动协调控制
Quadruped robot harmonious control based on RBF-Q learning
摘要
Abstract
This paper designed a kind of foot end tracking the ideal trajectory of motor coordination method by using adaptive RBF network and Q learning algorithm through the analysis of quadruped robot movement coordinated realization method.The simulation results show that the method can control the foot end of the quadruped robot to accurately track the trajectory of a given speed and displacement,and achieve quadruped robot motor coordination.关键词
RBF网络/Q学习/四足机器人/轨迹跟踪/运动协调Key words
RBF network/ Q-learning/ quadruped robot/ trajectory tracking/ motor coordination分类
信息技术与安全科学引用本文复制引用
尹俊明,李宏凯,戴振东..基于RBF-Q学习的四足机器人运动协调控制[J].计算机应用研究,2013,30(8):2349-2352,4.基金项目
国家自然科学基金资助项目(51205194) （51205194）
国际合作重大项目(60910007) （60910007）
国家"973"计划资助项目(2011CB302106) （2011CB302106）
