Terrain Adaption Controller for a Walking Excavator Robot using Deep Reinforcement Learning.
Ajish BabuFrank KirchnerPublished in: ICAR (2021)
Keyphrases
- legged robots
- reinforcement learning
- walking robot
- biped walking
- real robot
- central pattern generator
- quadruped robot
- biped robot
- mobile robot
- rough terrain
- stability margin
- inverted pendulum
- humanoid robot
- optimal control
- learning algorithm
- temporal difference
- state space
- motion control
- multi robot
- reinforcement learning algorithms
- control law
- contact force
- robot control
- closed loop
- walking speed
- control strategies
- interval type fuzzy
- human robot interaction
- fuzzy controller
- machine learning