Leveraging Symmetries in Gaits for Reinforcement Learning: A Case Study on Quadrupedal Gaits.
Jiayu DingXulin ChenGarrett E. KatzZhenyu GanPublished in: CoRR (2024)
Keyphrases
- legged robots
- reinforcement learning
- mechanical systems
- sagittal plane
- gait recognition
- mobile robot
- real robot
- gait analysis
- machine learning
- inverted pendulum
- human gait
- markov decision processes
- humanoid robot
- state space
- multi agent
- case study
- learning algorithm
- quadruped robot
- real time
- test bed
- optimal control
- transfer learning
- reference trajectory