Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots.
Simon ChamorroVictor KlemmMiguel de la Iglesia VallsChristopher PalRoland SiegwartPublished in: ICRA (2024)
Keyphrases
- legged robots
- inverted pendulum
- reinforcement learning
- mobile robot
- real robot
- legged locomotion
- simulation study
- feedback control
- nonlinear systems
- intelligent control
- state space
- robot control
- path planning
- fuzzy controller
- dynamic environments
- control algorithm
- machine learning
- quadruped robot
- learning algorithm
- initial conditions
- optimal control
- fuzzy systems
- robotic systems
- model free
- humanoid robot
- closed loop
- input output
- dynamic programming