Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning.
Fernando CastañedaMathias WulfmanAyush AgrawalTyler WestenbroekS. Shankar SastryClaire J. TomlinKoushil SreenathPublished in: CoRR (2020)
Keyphrases
- input output
- reinforcement learning
- autonomous robots
- humanoid robot
- mobile robot
- robot control
- real robot
- internal states
- robotic control
- function approximation
- control system
- multi robot
- fuzzy modeling
- adaptive control
- state space
- dynamic programming
- fuzzy model
- ibm zenterprise
- optimal policy
- model free
- noise cancellation
- neural network
- robotic systems
- single phase
- data envelopment analysis
- nonlinear functions
- action selection
- fuzzy controller
- closed loop