DMP-Based Motion Generation for a Walking Exoskeleton Robot Using Reinforcement Learning

• Published in: IEEE transactions on industrial electronics (1982) Vol. 67; no. 5; pp. 3830 - 3839
• Main Authors: Yuan, Yuxia, Li, Zhijun, Zhao, Ting, Gan, Di
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.05.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Artificial legs; Dynamic movement primitives (DMP); exoskeleton robot; Exoskeletons; Hip; Human motion; Joints (anatomy); Knee; Learning; Legged locomotion; Locomotion; locomotion trajectory; Pendulums; reinforcement learning (RL); Robot dynamics; Robot sensing systems; Robots; Rolling motion; Trajectories; Trajectory; Uncertainty; Walking; Yaw

For the purpose of the assistance for human walking, this paper describes a novel coupled movement sequences planning and motion adaption based on dynamic movement primitives (DMPs) for a walking exoskeleton robot. The developed exoskeleton robot has eight degrees of freedom (DOFs). The hip and knee...