A Balance Control Algorithm of the Robot Based on Advanced Updating
:针对自平衡机器人运动平衡控制问题,提出了一种基于优势更新的强化学习机制作为机器人的自平衡仿 生学习算法。该算法利用优势更新中的基线,结合强化学习中的概率好奇心机制,以一定的概率选择优等行为,剔 除劣等行为.从而使机器人在未知环境下可获得像生物一样的自主学习技能,实现机器人的仿生自平衡运动控制。 最后,应用该算法对机器人进行自平衡的仿真实验。结果表明,这种基于优势更新的强化学习算法能使机器人获 得较强的平衡控制技能。取得了较好的动态性能,体现了机器人的仿生特性。
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