A framework for optimal gait generation via learning optimal control using virtual constraint.

Satoshi Satoh Kenji Fujimoto Sang-Ho Hyon

Published in: IROS (2008)

Keyphrases

optimal control
reinforcement learning
dynamic programming
control problems
learning algorithm
actor critic
learning problems
control law
class of nonlinear systems
neural network
evolutionary algorithm
closed loop
infinite horizon
brownian motion