2134/35200
Christos Kouppas
Christos
Kouppas
Qinggang Meng
Qinggang
Meng
Mark King
Mark
King
Dennis Majoe
Dennis
Majoe
Machine learning comparison for step decision making of a bipedal robot
Loughborough University
2018
Decision tree
Linear/quadratic discriminant
SVM
KNN
Neural networks
Bipedal robot
LSTM
Medical and Health Sciences not elsewhere classified
2018-10-05 14:34:38
Conference contribution
https://repository.lboro.ac.uk/articles/conference_contribution/Machine_learning_comparison_for_step_decision_making_of_a_bipedal_robot/9405710
This paper presents the results of several machine learning techniques for step decision in a bipedal robot. The custom developed bipedal robot does not utilize electric motors as actuators and as a result has the disadvantage of imprecise movements. The robot is inherently unstable and maintain its stability by making steps. The classifiers had to learn when and which leg must be moved in order to maintain stability and locomotion. Methods like: Decision tree, Linear/Quadratic Discriminant, SVM, KNN and Neural Networks were trained. The results of their performance/accuracy are noted.