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On-line learning of a feedback controller for quasi-passive-dynamic walking by a stochastic policy gradient method.
Kentarou Hitomi
Tomohiro Shibata
Yutaka Nakamura
Shin Ishii
Published in:
IROS (2005)
Keyphrases
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gradient method
feedback controller
policy gradient
convergence rate
control scheme
dynamic environments
closed loop
step size
feedback control
mobile robot
control law
negative matrix factorization
neural network
humanoid robot
image quality
fuzzy systems
fuzzy logic
feature space
clustering algorithm