Adaptive Locomotion Control of Sixteen-legged Robot based on Deep Reinforcement Learning.
Xixi MuShibo ShaoDong ZhangPublished in: ROBIO (2021)
Keyphrases
- legged robots
- reinforcement learning
- inverted pendulum
- quadruped robot
- real robot
- mobile robot
- stability margin
- robot control
- legged locomotion
- optimal control
- feedback control
- machine learning
- adaptive control
- nonlinear systems
- control algorithm
- intelligent control
- dynamic model
- control method
- real time
- mathematical model
- fuzzy logic
- state space
- control system
- learning algorithm
- neural network