电子科技2025，Vol.38Issue(1)：29-36,8.DOI:10.16180/j.cnki.issn1007-7820.2025.01.005
融合模仿学习的双足机器人全向行走步态生成方法
Omnidirectional Gait Generation Method for Biped Robot with Fusion of Imitation Learning
摘要
Abstract
Due to the complex high-dimensional dynamics and highly dynamic characteristics of bipedal ro-bots,achieving omnidirectional gait is a difficult problem.In order to achieve omnidirectional walking of bipedal ro-bots,this study proposes a gait training method of biped robot based on deep reinforcement learning.Based on expert experience and the periodicity of bipedal walking,periodic symmetric functions that can achieve different gait styles are designed for imitation learning.In order to make the bipedal robot capable of omnidirectional walking,the foot-step planner in ROS(Robot Operating System)is used to generate target foothold points for imitation learning.The proposed method is validated on a self-designed bipedal robot.The experimental results show that the proposed method can realize four gait modes of biped robot including forward,side,diagonal and turn,and realize omnidirec-tional gait of biped robot,and can realize different styles of cycles.关键词
强化学习/模仿学习/专家经验/周期步态/全向运动/转向运动/对角线运动/双足机器人Key words
reinforcement learning/imitation learning/expert experience/periodic gait/omnidirectional move-ment/steering movement/diagonal movement/bipedal robot分类
信息技术与安全科学引用本文复制引用
冯振,牟海明,薛杰,李清都..融合模仿学习的双足机器人全向行走步态生成方法[J].电子科技,2025,38(1):29-36,8.基金项目
东方学者计划(TP2019064)Oriental Scholars Program(TP2019064) （TP2019064）
