GCTD3: Modeling of Bipedal Locomotion by Combination of TD3 Algorithms and Graph Convolutional Network

Abstract

In recent years, there has been a lot of research using reinforcement learning algorithms to train 2-legged robots to move, but there are still many challenges. The authors propose the GCTD3 method, which takes the idea of using Graph Convolutional Networks to represent the kinematic link features of the robot, and combines this with the Twin-Delayed Deep Deterministic Policy Gradient algorithm to train the robot to move. Graph Convolutional Networks are very effective in graph-structured problems such as the connection of the joints of the human-like robots. The GCTD3 method shows better results on the motion trajectories of the bipedal robot joints compared with other reinforcement learning algorithms such as Twin-Delayed Deep Deterministic Policy Gradient, Deep Deterministic Policy Gradient and Soft Actor Critic. This research is implemented on a 2-legged robot model with six independent joint coordinates through the Robot Operating System and Gazebo simulator.

Keywords

• GCTD3
• GCN
• TD3
• ROS
• reward function
• bipedal robot