The invention provides a humanoid robot reinforcement learning training method, device and equipment and a storage medium, and the method comprises the steps: obtaining a model file of a humanoid robot; analyzing the model file to obtain a position relation of two feet of the humanoid robot and part constraint information of the humanoid robot, and establishing a reference coordinate system according to the position relation of the two feet; according to the reference coordinate system and the component constraint information, a parallel ankle joint mechanism model of the humanoid robot is constructed, and inverse kinematics information is determined according to the parallel ankle joint mechanism model; and training a reinforcement learning strategy of the humanoid robot according to the inverse kinematics information and the component constraint information. According to the method, series-parallel connection conversion in a resolving mode in the training process is avoided, the operation efficiency is improved, meanwhile, the requirement for reinforcement learning parallel sampling efficiency is lowered, the training process is simplified, and the convergence speed of reinforcement learning strategies is increased.
本申请提供了一种人形机器人强化学习训练方法、装置、设备及存储介质,其中,该方法包括:获取人形机器人的模型文件;对模型文件进行解析,得到人形机器人的双脚的位置关系以及人形机器人的部件约束信息,并根据双脚的位置关系,建立基准坐标系;根据基准坐标系以及部件约束信息,构建得到人形机器人的并联踝关节机构模型,并根据并联踝关节机构模型确定逆运动学信息;根据逆运动学信息以及部件约束信息,对人形机器人的强化学习策略进行训练。本申请避免了训练过程中通过解算的方式进行串并联转换,提高了运算效率,同时,还降低了对强化学习并行采样效率的要求,简化了训练过程,加快强化学习策略的收敛速度。
Humanoid robot reinforcement learning training method, device and equipment and storage medium
人形机器人强化学习训练方法、装置、设备及存储介质
2025-05-23
Patent
Electronic Resource
Chinese
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