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This paper proposes the implementation of fuzzy motion control based on reinforcement learning (RL) and Lagrange polynomial interpolation (LPI) for gait synthesis of biped robots. First, the procedure of a walking gait is redefined into three states, and the parameters of this designed walking gait are determined. Then, the machine learning approach applied(More)
Criegee intermediates, which are carbonyl oxides produced when ozone reacts with unsaturated hydrocarbons, play an important role in the formation of OH and organic acids in the atmosphere, but they have eluded direct detection until recently. Reactions that involve Criegee intermediates are not understood fully because data based on their direct(More)
The design and implementation of Fuzzy Policy Gradient Learning (FPGL) method for humanoid robot is proposed in this paper. This paper not only introduces the phases of the humanoid robot walking, but also improves and parameterizes the gait pattern of the robot. FPGL is an integrated machine learning method based on Policy Gradient Reinforcement Learning(More)
The Criegee intermediates are carbonyl oxides postulated to play key roles in the reactions of ozone with unsaturated hydrocarbons; these reactions constitute an important mechanism for the removal of unsaturated hydrocarbons and for the production of OH in the atmosphere. Here, we report the transient infrared (IR) absorption spectrum of the simplest(More)
This paper mainly concerns about the development of a small-sized humanoid robot for penalty kick function in FIRA by using FPGA. The environment information is captured by the CMOS image sensor and the strategy is processed by FPGA. We will describe how the robot search the ball in the field and the tracking algorithm will be introduced. The strategy for(More)
This paper is mainly to concern the research of auto-balance control for the humanoid robot. A stable gait planning is the most essential and important part in the study of humanoid robot. Therefore, we design and implement a fuzzy auto-balance controller. Firstly, this paper introduces the humanoid robot (NCKU-1) that we construct and addresses the(More)
Basing on the simulation of a social metaphor instead of the survival of the fittest individual paradigm, particle swarm optimization is a population-based swarm intelligence algorithm. Inspired by the conventional particle swarm method, ecological theory, and biological theory, this work proposes a novel ecological-biological-behaved particle swarm(More)