CPG-Based Hierarchical Locomotion Control for Modular Quadrupedal Robots Using Deep Reinforcement Learning.
Jiayu WangChuxiong HuYu ZhuPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- legged robots
- robot control
- reinforcement learning
- quadruped robot
- mobile robot
- robotic systems
- real robot
- inverted pendulum
- control problems
- autonomous robots
- motion control
- unstructured environments
- legged locomotion
- visual servoing
- machine learning
- robotic control
- robot behavior
- autonomous systems
- state space
- optimal control
- deep learning
- markov decision processes
- control strategy
- control system
- modular robots
- optimal policy
- industrial robots
- cooperative
- multi robot systems
- control algorithm
- model free
- adaptive control
- feedback control
- intelligent control
- control strategies