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Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies.
Ivan Dario Jimenez Rodriguez
Noel Csomay-Shanklin
Yisong Yue
Aaron D. Ames
Published in:
CoRR (2022)
Keyphrases
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robot control
autonomous robots
learning algorithm
reinforcement learning
neural network
mobile robot
recurrent networks
motor control
learning process
mechanical systems
adaptive control
learning rules
humanoid robot
degrees of freedom
multi modal
active learning
three dimensional