Vertical Stabilization of Bipedal Walking Drone PAVO with Proximal Policy Optimization
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F26%3A0200912" target="_blank" >RIV/00216305:26210/26:0200912 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ME61309.2024.10789752" target="_blank" >http://dx.doi.org/10.1109/ME61309.2024.10789752</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ME61309.2024.10789752" target="_blank" >10.1109/ME61309.2024.10789752</a>
Alternative languages
Result language
angličtina
Original language name
Vertical Stabilization of Bipedal Walking Drone PAVO with Proximal Policy Optimization
Original language description
While autonomous mobile robots have gained more popularity over the last few years and many traditional problems (such as navigation and locomotion) seem to have been solved with an adequate level of accuracy, walking and biped robots still face many challenges. We present an approach to the stabilization of mobile robots with two legs, which move via quasi-dynamic movement. A popular machine learning method, Proximal Policy Optimization (PPO), was used to learn how to stabilize the robot in a vertical position. This method is popular for solving complex problem domains with high-dimensional state-action spaces and continuous states and actions, which are common in areas involving walking robots with a high number of degrees of freedom. The method was tested on a custom-designed biped walking robot, PAVO.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 2024 21st International Conference on Mechatronics - Mechatronika, ME 2024
ISBN
979-8-3503-9491-7
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1-6
Publisher name
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Place of publication
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Event location
Brno
Event date
Dec 4, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001414274500001