Hierarchical Free Gait Motion Planning for Hexapod Robots Using Deep Reinforcement Learning.
Xinpeng WangHuiqiao FuGuizhou DengCanghai LiuKaiqiang TangChunlin ChenPublished in: IEEE Trans. Ind. Informatics (2023)
Keyphrases
- motion planning
- legged robots
- mobile robot
- real robot
- reinforcement learning
- humanoid robot
- multi robot
- path planning
- robot control
- manipulation tasks
- robot arm
- trajectory planning
- degrees of freedom
- obstacle avoidance
- collision free
- autonomous robots
- quadruped robot
- control law
- dynamic environments
- robotic tasks
- robotic arm
- motion control
- inverted pendulum
- autonomous mobile robot
- mechanical systems
- state space
- inverse kinematics
- dynamic programming
- markov decision processes
- configuration space
- object recognition
- multi modal
- visual servoing
- robotic systems
- biologically inspired
- machine learning
- vision system
- collision avoidance
- human motion
- optimal control