Matches in SemOpenAlex for { <https://semopenalex.org/work/W3196996066> ?p ?o ?g. }
Showing items 1 to 96 of
96
with 100 items per page.
- W3196996066 endingPage "5907" @default.
- W3196996066 startingPage "5907" @default.
- W3196996066 abstract "External disturbance poses the primary threat to robot balance in dynamic environments. This paper provides a learning-based control architecture for quadrupedal self-balancing, which is adaptable to multiple unpredictable scenes of external continuous disturbance. Different from conventional methods which construct analytical models which explicitly reason the balancing process, our work utilized reinforcement learning and artificial neural network to avoid incomprehensible mathematical modeling. The control policy is composed of a neural network and a Tanh Gaussian policy, which implicitly establishes the fuzzy mapping from proprioceptive signals to action commands. During the training process, the maximum-entropy method (soft actor-critic algorithm) is employed to endow the policy with powerful exploration and generalization ability. The trained policy is validated in both simulations and realistic experiments with a customized quadruped robot. The results demonstrate that the policy can be easily transferred to the real world without elaborate configurations. Moreover, although this policy is trained in merely one specific vibration condition, it demonstrates robustness under conditions that were never encountered during training." @default.
- W3196996066 created "2021-09-13" @default.
- W3196996066 creator A5033918314 @default.
- W3196996066 creator A5039047428 @default.
- W3196996066 creator A5042454872 @default.
- W3196996066 creator A5056346127 @default.
- W3196996066 date "2021-09-02" @default.
- W3196996066 modified "2023-09-23" @default.
- W3196996066 title "Adaptive Quadruped Balance Control for Dynamic Environments Using Maximum-Entropy Reinforcement Learning" @default.
- W3196996066 cites W1975230295 @default.
- W3196996066 cites W2061063863 @default.
- W3196996066 cites W2080421646 @default.
- W3196996066 cites W2096836513 @default.
- W3196996066 cites W2125224533 @default.
- W3196996066 cites W2461181622 @default.
- W3196996066 cites W2464873593 @default.
- W3196996066 cites W2796290181 @default.
- W3196996066 cites W2911087563 @default.
- W3196996066 cites W2920812058 @default.
- W3196996066 cites W2963184939 @default.
- W3196996066 cites W2967118761 @default.
- W3196996066 cites W2984879732 @default.
- W3196996066 cites W3010768390 @default.
- W3196996066 cites W3104876774 @default.
- W3196996066 cites W3120722795 @default.
- W3196996066 doi "https://doi.org/10.3390/s21175907" @default.
- W3196996066 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/8434611" @default.
- W3196996066 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/34502796" @default.
- W3196996066 hasPublicationYear "2021" @default.
- W3196996066 type Work @default.
- W3196996066 sameAs 3196996066 @default.
- W3196996066 citedByCount "2" @default.
- W3196996066 countsByYear W31969960662022 @default.
- W3196996066 crossrefType "journal-article" @default.
- W3196996066 hasAuthorship W3196996066A5033918314 @default.
- W3196996066 hasAuthorship W3196996066A5039047428 @default.
- W3196996066 hasAuthorship W3196996066A5042454872 @default.
- W3196996066 hasAuthorship W3196996066A5056346127 @default.
- W3196996066 hasBestOaLocation W31969960661 @default.
- W3196996066 hasConcept C104317684 @default.
- W3196996066 hasConcept C119857082 @default.
- W3196996066 hasConcept C127413603 @default.
- W3196996066 hasConcept C133731056 @default.
- W3196996066 hasConcept C154945302 @default.
- W3196996066 hasConcept C17744445 @default.
- W3196996066 hasConcept C185592680 @default.
- W3196996066 hasConcept C199539241 @default.
- W3196996066 hasConcept C2775924081 @default.
- W3196996066 hasConcept C2779110517 @default.
- W3196996066 hasConcept C41008148 @default.
- W3196996066 hasConcept C47446073 @default.
- W3196996066 hasConcept C50644808 @default.
- W3196996066 hasConcept C55493867 @default.
- W3196996066 hasConcept C63479239 @default.
- W3196996066 hasConcept C90509273 @default.
- W3196996066 hasConcept C97541855 @default.
- W3196996066 hasConceptScore W3196996066C104317684 @default.
- W3196996066 hasConceptScore W3196996066C119857082 @default.
- W3196996066 hasConceptScore W3196996066C127413603 @default.
- W3196996066 hasConceptScore W3196996066C133731056 @default.
- W3196996066 hasConceptScore W3196996066C154945302 @default.
- W3196996066 hasConceptScore W3196996066C17744445 @default.
- W3196996066 hasConceptScore W3196996066C185592680 @default.
- W3196996066 hasConceptScore W3196996066C199539241 @default.
- W3196996066 hasConceptScore W3196996066C2775924081 @default.
- W3196996066 hasConceptScore W3196996066C2779110517 @default.
- W3196996066 hasConceptScore W3196996066C41008148 @default.
- W3196996066 hasConceptScore W3196996066C47446073 @default.
- W3196996066 hasConceptScore W3196996066C50644808 @default.
- W3196996066 hasConceptScore W3196996066C55493867 @default.
- W3196996066 hasConceptScore W3196996066C63479239 @default.
- W3196996066 hasConceptScore W3196996066C90509273 @default.
- W3196996066 hasConceptScore W3196996066C97541855 @default.
- W3196996066 hasIssue "17" @default.
- W3196996066 hasLocation W31969960661 @default.
- W3196996066 hasLocation W31969960662 @default.
- W3196996066 hasLocation W31969960663 @default.
- W3196996066 hasOpenAccess W3196996066 @default.
- W3196996066 hasPrimaryLocation W31969960661 @default.
- W3196996066 hasRelatedWork W1585707520 @default.
- W3196996066 hasRelatedWork W1608993128 @default.
- W3196996066 hasRelatedWork W2067224748 @default.
- W3196996066 hasRelatedWork W2371062157 @default.
- W3196996066 hasRelatedWork W2621025412 @default.
- W3196996066 hasRelatedWork W2768908787 @default.
- W3196996066 hasRelatedWork W3022038857 @default.
- W3196996066 hasRelatedWork W4300427736 @default.
- W3196996066 hasRelatedWork W4319083788 @default.
- W3196996066 hasRelatedWork W1629725936 @default.
- W3196996066 hasVolume "21" @default.
- W3196996066 isParatext "false" @default.
- W3196996066 isRetracted "false" @default.
- W3196996066 magId "3196996066" @default.
- W3196996066 workType "article" @default.