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Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante.

Alexis DuburcqFabian SchrammGuilhem BoérisNicolas BredècheYann Chevaleyre
Published in: IROS (2022)
Keyphrases
  • reinforcement learning
  • humanoid robot
  • biologically inspired
  • joint space
  • dynamic programming
  • motion planning
  • motion capture
  • reinforcement learning algorithms