Please cite this article in press as: M. Raj, V. Bhaskar Semwal, G.C.Nandi. Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach, International Journal of Interactive Multimedia and Artificial Intelligence, (2017), http://dx.doi.org/10.9781/ijimai.2017.10.001 * Corresponding author. E-mail addresses: [email protected] (Manish Raj), vsemwal@...

Learning locomotion skills is a challenging problem. To generate realistic and smooth locomotion, existing methods use motion capture, finite state machines or morphology-specific knowledge to guide the motion generation algorithms. Deep reinforcement learning (DRL) is a promising approach for the automatic creation of locomotion control. Indeed, a standard benchmark for DRL is to automatically...

Soccer Humanoid robots must be able to fulfill their tasks in a highly dynamic soccer field, which requires highly responsive and dynamic locomotion. It is very difficult to keep humanoids balance during walking. The position of the Zero Moment Point (ZMP) is widely used for dynamic stability measurement in biped locomotion. In this paper, we present an omnidirectional walk engine, which mainly...