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Humanoid research has made notable progress during the past 25 years. However, currently most humanoids use the ZMP (zero moment point) for control of bipedal locomotion, which requires precise modeling and actuation with high control gains. On the contrary, researchers do not rely on such precise modeling and actuation. In this paper we have tried to introduce a novel method for the evolution of...
In the problem of humanoid robot stepping over dynamic obstacle in the sagittal plane, the duration, the length of the step, and the maximum step height of the biped robot are key factors which influence successful obstacle avoidance. In this paper, an approach of footstep planning for biped robot has been presented. Fuzzy Q-Learning algorithm has been developed to learn these crucial parameters....
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