Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning
文献类型：期刊论文
| 作者 | Ruofan Wu; Zhikai Yao; Jennie Si; He (Helen) Huang |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2022 |
| 卷号 | 9期号:1页码:19-30 |
| 关键词 | Automatic tracking of intact knee configuration of robotic knee prosthesis direct heuristic dynamic programming (dHDP) reinforcement learning control |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2021.1004272 |
| 英文摘要 | We address a state-of-the-art reinforcement learning (RL) control approach to automatically configure robotic prosthesis impedance parameters to enable end-to-end, continuous locomotion intended for transfemoral amputee subjects. Specifically, our actor-critic based RL provides tracking control of a robotic knee prosthesis to mimic the intact knee profile. This is a significant advance from our previous RL based automatic tuning of prosthesis control parameters which have centered on regulation control with a designer prescribed robotic knee profile as the target. In addition to presenting the tracking control algorithm based on direct heuristic dynamic programming (dHDP), we provide a control performance guarantee including the case of constrained inputs. We show that our proposed tracking control possesses several important properties, such as weight convergence of the learning networks, Bellman (sub) optimality of the cost-to-go value function and control input, and practical stability of the human-robot system. We further provide a systematic simulation of the proposed tracking control using a realistic human-robot system simulator, the OpenSim, to emulate how the dHDP enables level ground walking, walking on different terrains and at different paces. These results show that our proposed dHDP based tracking control is not only theoretically suitable, but also practically useful. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45971]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Ruofan Wu,Zhikai Yao,Jennie Si,et al. Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(1):19-30. |
| APA | Ruofan Wu,Zhikai Yao,Jennie Si,&He .(2022).Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning.IEEE/CAA Journal of Automatica Sinica,9(1),19-30. |
| MLA | Ruofan Wu,et al."Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning".IEEE/CAA Journal of Automatica Sinica 9.1(2022):19-30. |
入库方式： OAI收割
来源：自动化研究所
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