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Model design of a lower body humanoid robot based on PAM actuators and reinforcement learning implementation for its control
Citation
Reyero Ibáñez, Eduardo (2020). Model design of a lower body humanoid robot based on PAM actuators and reinforcement learning implementation for its control. Thesis (Master thesis), E.T.S.I. Industriales (UPM).
Description
| Title: | Model design of a lower body humanoid robot based on PAM actuators and reinforcement learning implementation for its control |
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| Item Type: | Thesis (Master thesis) |
| Masters title: | Ingeniería Industrial |
| Date: | July 2020 |
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| Freetext Keywords: | Lower body humanoid robot model, Pneumatic Artificial Muscles, Deep Reinforcement Learning |
| Faculty: | E.T.S.I. Industriales (UPM) |
| Department: | Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial |
| Creative Commons Licenses: | Recognition - No derivative works - Non commercial |
Abstract
The aim of this Master's Thesis is to develop the model of a humanoid robot lower body based on Pneumatic Artificial Muscles (PAM) actuators and control its movement by learning algorithms such as reinforcement learning to produce natural, smooth and accurate balancing and walking task.
More information
| Item ID: | 65525 |
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| DC Identifier: | https://oa.upm.es/65525/ |
| OAI Identifier: | oai:oa.upm.es:65525 |
| Deposited by: | Alumno Eduardo Reyero Ibáñez |
| Deposited on: | 06 Dec 2020 08:16 |
| Last Modified: | 06 Dec 2020 08:16 |
