Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion.
Vyacheslav KovalevAnna ShkromadaHenni OuerdanePavel OsinenkoPublished in: CoRR (2023)
Keyphrases
- legged robots
- model predictive control
- robot control
- reinforcement learning
- mobile robot
- real robot
- robotic systems
- control system
- rough terrain
- predictive control
- autonomous robots
- autonomous learning
- human robot interaction
- path planning
- central pattern generator
- vision system
- state space
- robot motion
- learning algorithm
- perceptual aliasing
- legged locomotion
- optimal policy
- inverted pendulum
- robot moves
- real time
- control scheme
- multi robot
- rough sets
- dynamic programming
- robot behavior
- genetic algorithm