Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning.
Fernando CastañedaMathias WulfmanAyush AgrawalTyler WestenbroekShankar SastryClaire J. TomlinKoushil SreenathPublished in: L4DC (2020)
Keyphrases
- input output
- reinforcement learning
- real robot
- autonomous robots
- humanoid robot
- mobile robot
- robotic control
- robot control
- internal states
- evolutionary robotics
- function approximation
- state space
- noise cancellation
- multi robot
- robotic systems
- fuzzy neural network
- closed loop
- fuzzy model
- fuzzy controller
- state transition
- model free
- learning algorithm
- optimal policy
- data envelopment analysis
- fuzzy logic controller
- fuzzy inference system
- optimal control
- dynamic programming
- hidden markov models
- legged robots
- control system
- non stationary
- evolutionary algorithm