Salamander robot path tracking hierarchical control method based on reinforcement learning

Abstract

The invention discloses a salamander robot path tracking hierarchical control method based on reinforcement learning. Aiming at the path tracking problem of the salamander bionic robot, a hierarchicalcontrol framework is established, the hierarchical control framework comprises an upper controller based on reinforcement learning and a bottom controller based on inverse kinematics, and target pathtracking of the salamander bionic robot is realized. Specifically, for an upper-layer controller, state space representation, action space representation and a reward function are designed on the basis of a softActor-Critic algorithm, so that the tracking precision can be improved, and static errors can be eliminated. For an underlying controller, a leg controller and a spine controller based oninverse kinematics are established. And finally, a controller trained by the robot in a simulation environment is migrated to a real environment to verify the feasibility and generalization ability ofthe algorithm. Experimental results show that the control target can be better completed, and a better control effect is shown in the aspects of simulation to actual mobility and generalization.

Description

technical field [0001] The invention belongs to the technical field of bionic robot path tracking control, in particular to a layered control method for salamander robot path tracking based on reinforcement learning. Background technique [0002] The development of robots for field search and rescue has become a hot field of robotics research. The search and rescue scenes are usually narrow and the terrain is complex. These places are dangerous and difficult for rescuers to reach. Using robots to assist rescue teams to explore and obtain information, The efficiency of rescue can be improved. A key characteristic of animals is their ability to move efficiently in their environment. This basic but amazing ability is the result of millions of years of evolution. Its flexibility and energy efficiency far exceed the level of robots. Therefore, the bionic robot is designed according to the body structure of the animal, hoping to achieve the same control effect. The bionic robot i...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problems involved in the existing salamander robot control methods, such as the parameter optimization is complicated, the algorithm consumes a large amount of computing resources, etc., and to provide a layered control method for the salamander robot path tracking based on reinforcement learning

[0007] In order to solve the problem of salamander robot path tracking, the present invention adopts a hierarchical control method. The upper-layer policy network is trained with reinforcement learning to provide complex global decision-making, while the bottom-layer traditional controller implements commands from the upper-layer controller.

Images