This is a preview of subscription content, log in via an institution to check access.
References
Huang R, Cheng H,_Chen Q, et al. Interactive learning for sensitivity factors of a human-powered augmentation lower exoskeleton. In: Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS), Hamburg. 2015. 6409–6415
Huang R, Cheng H, Guo H, et al. Hierarchical interactive learning for a human-powered augmentation lower exoskeleton. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Stockholm. 2016. 257–263
Huang R, Cheng H, Guo H, et al. Hierarchical learning control with physical human-exoskeleton interaction. Inf Sci, 2018, 432: 584–595
Lillicrap T P, Hunt J J, Pritzel A. Continuous control with deep reinforcement learning. 2015. ArXiv: 1509.02971
Grondman I, Busoniu L, Lopes G A D, et al. A survey of actor-critic reinforcement learning: standard and natural policy gradients. IEEE Trans Syst Man_Cybern C, 2012, 42: 1291–1307
Kazerooni H, Racine J L, Huang L, et al. On the control of the Berkeley lower extremity exoskeleton (BLEEX). In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Barcelona, 2005. 4353–4360
Acknowledgements
This work was supported by National Key Research and Development Program of China (Grant No. 2017YFB1302300) and National Natural Science Foundation of China (Grant Nos. 61673088, 61503060). Moreover, the authors gratefully acknowledge the contribution of an anonymous reviewer’s comments.
Author information
Authors and Affiliations
Corresponding author
Additional information
Supporting information Appendixes A–C. The supporting information is available online at info.scichina.com and link.springer.com. The supporting materials are published as submitted, without typesetting or editing. The responsibility for scientific accuracy and content remains entirely with the authors
Electronic Supplementary Material
Rights and permissions
About this article
Cite this article
Song, G., Huang, R., Cheng, H. et al. Learning continuous coupled multi-controller coefficients based on actor-critic algorithm for lower-limb exoskeleton. Sci. China Inf. Sci. 64, 159203 (2021). https://doi.org/10.1007/s11432-018-9779-6
Received:
Revised:
Accepted:
Published:
DOI: https://doi.org/10.1007/s11432-018-9779-6