约束条件下基于强化学习的六足机器人步态规划外文文献翻译、中英文翻译、外文翻译.docVIP

PAGE PAGE 2 Gait planning of hexapod robot based on reinforcement learning under constrained conditions Abstract: hexapod robot has multiple redundant degrees of freedom in structure and high adaptability to terrain environment. How to improve the mobility of hexapod robot in unstructured environment has always been a challenging subject. In this paper, the walking problem of hexapod robot in unstructured environment is modeled as discrete foothold selection and path optimization under constrained conditions. The gait planning and path optimization problems in unknown unstructured and complex road conditions are solved by intensive learning. Experimental verification is carried out by MATLAB-ADAMAS joint simulation. Keywords: hexapod robot; reinforcement learning; gait planning; path optimization 1 Introduction There are irregular terrain, rugged terrain, high obstacles or wading pavement in mountainous area, which limits the application of wheeled and crawler transportation tools. The hexapod robot has many redundant degrees of freedom in structure, so it has high adaptability to terrain and environment. It has a very broad application prospect in the fields of forest cutting, mining, underwater construction, nuclear industry, military transportation and detection, planet detection and so on. Therefore, the research on hexapod robot has been concerned by experts and scholars all over the world, but how to improve the mobility of hexapod robot in unstructured environment is still a challenging subject. This PAGE PAGE 2 Author: Tang Kaiqiang (1992-), male, Luzhou, Sichuan, Masters degree, research field: intelligent robot; Hong Jun (1995-), male, Fuzhou, Jiangxi, undergraduate, research field: intensive study, Liu Canghai (1966-), male, Quanzhou, Fujian, Professor, Ph. D., research field: robotics, etc. Chen Chunlin (1979.5-), male, Bozhou, Anhui, Professor, Ph. D., research field: intelligent control, etc. In this paper, the walking problem of hexapod