Corpus ID: 13944350

Stabilization of Biped Robot based on Two mode Q-learning

  title={Stabilization of Biped Robot based on Two mode Q-learning},
  author={K. H. Park and Jun Jo and J. Kim},
Abstract In this paper, two mode Q-learning, an extension of Q-learning, is used to stabilize the Zero Moment Point (ZMP)of a biped robot in the standing posture. In two mode Q-learning, the experiences of both success and failureof an agent are used for fast convergence. To demonstrate the effectiveness of two mode Q-learning againstconventional Q-learning, the property of convergence is investigated through simulation in a grid world. Thispaper also presents the experimental results of the… Expand
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