@inproceedings{21b11c25786f489cb0c828f2eb1560fd,
title = "Research of reinforcement learning based share control of walking-aid robot",
abstract = "In this paper we developed a new reinforcement learning based share control algorithm for walking-aid robot. We use a group of one-dimensional push-pull force sensors to estimate human walking intention, from which the user's desired moving velocity of robot is obtained. At the same time, the robot itself also plans a desired moving velocity. A weighted sum of the two desired velocities is taken as the real reference velocity and fed into the motion controller. The Sarsa-learning algorithm dynamically adapts the weights of user's control according to the control efficiency, the robot state and the environment. As a result, an optimal share control for walking-aid robot is realized in a certain environment. Finally experiments are performed to verify the effectiveness of algorithm.",
keywords = "Reinforcement Learning, Share Control, Walking-aid Robot",
author = "Wenxia Xu and Jian Huang and Yongji Wang and Chunjing Tao and Xueshan Gao",
year = "2013",
month = oct,
day = "18",
language = "英语",
isbn = "9789881563835",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5883--5888",
booktitle = "Proceedings of the 32nd Chinese Control Conference, CCC 2013",
address = "美国",
note = "32nd Chinese Control Conference, CCC 2013 ; Conference date: 26-07-2013 Through 28-07-2013",
}