Teach Biped Robots to Walk via Gait Principles and Reinforcement Learning with Adversarial Critics.
Kuangen ZhangZhimin HouClarence W. de SilvaHaoyong YuChenglong FuPublished in: CoRR (2019)
Keyphrases
- biped robot
- reinforcement learning
- humanoid robot
- real robot
- legged robots
- robot control
- robotic control
- quadruped robot
- multi agent
- mobile robot
- inverted pendulum
- robotic systems
- multi robot
- control strategy
- function approximation
- biologically inspired
- motion capture
- state space
- swarm robotics
- random walk
- human recognition
- gait analysis
- reinforcement learning methods
- learning algorithm
- control law
- control parameters
- cooperative
- autonomous robots
- optimal control
- action selection
- reinforcement learning algorithms
- computer programming
- biped walking
- human movement
- robotic agents
- dynamic programming
- robot behavior
- machine learning
- gait recognition
- control system
- multi modal
- swarm intelligence
- human gait
- human identification
- human robot interaction
- nonlinear systems