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Authors: Christophe Sabourin 1 ; Kurosh Madani 1 ; Weiwei Yu 2 and Jie Yan 2

Affiliations: 1 Laboratoire Images, Signaux, et Systèmes Intelligents (LISSI EA / 3956), Université Paris-XII, IUT de Sénart, France ; 2 Flight Control and Simulation Institute, Northwestern Polytechnical University, China

Keyword(s): Biped robots, Footstep planning, Fuzzy Q-Learning.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: The biped robots have more flexible mechanical systems and they can move in more complex environment than wheeled robots. Their abilities to step over both static and dynamic obstacles allow to the biped robots to cross an uneven terrain where ordinary wheeled robots can fail. In this paper we present a footstep planning for biped robots allowing them to step over dynamic obstacles. Our footstep planning strategy is based on a fuzzy Q-learning concept. In comparison with other previous works, one of the most appealing interest of our approach is its good robustness because the proposed footstep planning is operational for both constant and random velocity of the obstacle.

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Paper citation in several formats:
Sabourin, C.; Madani, K.; Yu, W. and Yan, J. (2008). FOOTSTEP PLANNING FOR BIPED ROBOT BASED ON FUZZY Q-LEARNING APPROACH. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 183-188. DOI: 10.5220/0001486701830188

@conference{icinco08,
author={Christophe Sabourin. and Kurosh Madani. and Weiwei Yu. and Jie Yan.},
title={FOOTSTEP PLANNING FOR BIPED ROBOT BASED ON FUZZY Q-LEARNING APPROACH},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2008},
pages={183-188},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001486701830188},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - FOOTSTEP PLANNING FOR BIPED ROBOT BASED ON FUZZY Q-LEARNING APPROACH
SN - 978-989-8111-31-9
IS - 2184-2809
AU - Sabourin, C.
AU - Madani, K.
AU - Yu, W.
AU - Yan, J.
PY - 2008
SP - 183
EP - 188
DO - 10.5220/0001486701830188
PB - SciTePress

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