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Phase-dependent trajectory optimization for CPG-based biped walking using path integral reinforcement learning.

Norikazu SugimotoJun Morimoto
Published in: Humanoids (2011)
Keyphrases
  • reinforcement learning
  • biped walking
  • function approximation
  • optimization algorithm
  • machine learning
  • state space
  • shortest path
  • interval type fuzzy
  • real time
  • neural network
  • multi modal
  • adaptive control