Reinforcement Learning of CPG-Regulated Locomotion Controller for a Soft Snake Robot.
Xuan LiuCagdas D. OnalJie FuPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- central pattern generator
- reinforcement learning
- legged robots
- robot control
- mobile robot
- quadruped robot
- motion control
- rough terrain
- real robot
- robotic systems
- control architecture
- active contours
- pid controller
- optimal control
- biped walking
- robotic manipulator
- robot moves
- function approximation
- model free
- autonomous robots
- path planning
- reinforcement learning algorithms
- active contour model
- image segmentation
- control system
- closed loop
- real time
- autonomous learning
- learning algorithm
- robot behavior
- multi robot
- force control
- markov decision processes
- level set
- perceptual aliasing
- inverted pendulum
- multi agent
- temporal difference