Yu-Te Su

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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)
—This paper mainly covers the development of a FPGA-based fuzzy controller and image processing system for a small-sized humanoid robot. All the computations are operated on an FPGA board including the real-time image processing and the fuzzy logic controller design for PK event in FIRA RoboWorld cup. At first, the specification of the hardware is(More)
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