Standing balance of single-legged hopping robot model using reinforcement learning approach in the presence of external disturbances
Abstract In this scholarly investigation, the study focuses on scrutinizing the locomotion and control mechanisms governing a single-legged robot. The analysis encompasses the robot’s movement dynamics pertaining to two primary objectives: executing jumps and sustaining equilibrium throughout succes...
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| Language: | English |
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Nature Portfolio
2024-12-01
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| Online Access: | https://doi.org/10.1038/s41598-024-83749-x |
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| author | S. Mohamad Hoseinifard Majid Sadedel |
| author_facet | S. Mohamad Hoseinifard Majid Sadedel |
| author_sort | S. Mohamad Hoseinifard |
| collection | DOAJ |
| description | Abstract In this scholarly investigation, the study focuses on scrutinizing the locomotion and control mechanisms governing a single-legged robot. The analysis encompasses the robot’s movement dynamics pertaining to two primary objectives: executing jumps and sustaining equilibrium throughout successive jump sequences. Diverse concepts of this robot model have been scrutinized, leading to the introduction of a distinctive semi-active model devised for maintaining the robot’s balance. The research involves an initial design for the robot model followed by the introduction of a multi-phase composite control system. As per the proposed model, the jumping action is facilitated through a four-link mechanism augmented by a spring, while balance preservation is achieved through the independent operation of two arms connected to the upper body. To address the successive jumps within the four-link mechanism, a multi-phase feedback controller is engineered. Additionally, a hybrid control strategy, incorporating the Deep Deterministic Policy Gradient algorithm (DDPG) along with a feedback controller, is proposed to sustain balance throughout the robot’s contact and flight phases. The research outcomes, acquired through a series of comprehensive tests conducted within the Simulink simulator environment, demonstrate the robot’s capacity to maintain balance over 80 consecutive jumps. The evaluations encompassed various simulated external disturbances, including 1- horizontal impacts on the upper body, 2- disparities in ground height, and 3- alterations in ground angle between consecutive steps. Notably, the findings showcase the robot’s adeptness in maintaining balance despite an impact with an amplitude of 25 N for a duration of 0.1 seconds, as well as its resilience in managing ground height disparities up to 3 cm and ground angle variations of up to 3°. |
| format | Article |
| id | doaj-art-9c6fdb86ee7f49b3adb3bd7d87d00084 |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-9c6fdb86ee7f49b3adb3bd7d87d000842025-01-05T12:27:06ZengNature PortfolioScientific Reports2045-23222024-12-0114111610.1038/s41598-024-83749-xStanding balance of single-legged hopping robot model using reinforcement learning approach in the presence of external disturbancesS. Mohamad Hoseinifard0Majid Sadedel1Department of Mechanical Engineering, Tarbiat Modares UniversityDepartment of Mechanical Engineering, Tarbiat Modares UniversityAbstract In this scholarly investigation, the study focuses on scrutinizing the locomotion and control mechanisms governing a single-legged robot. The analysis encompasses the robot’s movement dynamics pertaining to two primary objectives: executing jumps and sustaining equilibrium throughout successive jump sequences. Diverse concepts of this robot model have been scrutinized, leading to the introduction of a distinctive semi-active model devised for maintaining the robot’s balance. The research involves an initial design for the robot model followed by the introduction of a multi-phase composite control system. As per the proposed model, the jumping action is facilitated through a four-link mechanism augmented by a spring, while balance preservation is achieved through the independent operation of two arms connected to the upper body. To address the successive jumps within the four-link mechanism, a multi-phase feedback controller is engineered. Additionally, a hybrid control strategy, incorporating the Deep Deterministic Policy Gradient algorithm (DDPG) along with a feedback controller, is proposed to sustain balance throughout the robot’s contact and flight phases. The research outcomes, acquired through a series of comprehensive tests conducted within the Simulink simulator environment, demonstrate the robot’s capacity to maintain balance over 80 consecutive jumps. The evaluations encompassed various simulated external disturbances, including 1- horizontal impacts on the upper body, 2- disparities in ground height, and 3- alterations in ground angle between consecutive steps. Notably, the findings showcase the robot’s adeptness in maintaining balance despite an impact with an amplitude of 25 N for a duration of 0.1 seconds, as well as its resilience in managing ground height disparities up to 3 cm and ground angle variations of up to 3°.https://doi.org/10.1038/s41598-024-83749-xSingle-legged hopping robotStanding balanceReinforcement learningDisturbance to legged robot |
| spellingShingle | S. Mohamad Hoseinifard Majid Sadedel Standing balance of single-legged hopping robot model using reinforcement learning approach in the presence of external disturbances Scientific Reports Single-legged hopping robot Standing balance Reinforcement learning Disturbance to legged robot |
| title | Standing balance of single-legged hopping robot model using reinforcement learning approach in the presence of external disturbances |
| title_full | Standing balance of single-legged hopping robot model using reinforcement learning approach in the presence of external disturbances |
| title_fullStr | Standing balance of single-legged hopping robot model using reinforcement learning approach in the presence of external disturbances |
| title_full_unstemmed | Standing balance of single-legged hopping robot model using reinforcement learning approach in the presence of external disturbances |
| title_short | Standing balance of single-legged hopping robot model using reinforcement learning approach in the presence of external disturbances |
| title_sort | standing balance of single legged hopping robot model using reinforcement learning approach in the presence of external disturbances |
| topic | Single-legged hopping robot Standing balance Reinforcement learning Disturbance to legged robot |
| url | https://doi.org/10.1038/s41598-024-83749-x |
| work_keys_str_mv | AT smohamadhoseinifard standingbalanceofsingleleggedhoppingrobotmodelusingreinforcementlearningapproachinthepresenceofexternaldisturbances AT majidsadedel standingbalanceofsingleleggedhoppingrobotmodelusingreinforcementlearningapproachinthepresenceofexternaldisturbances |