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Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot.
Gen Endo
Jun Morimoto
Takamitsu Matsubara
Jun Nakanishi
Gordon Cheng
Published in:
Int. J. Robotics Res. (2008)
Keyphrases
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humanoid robot
imitation learning
gradient method
learning algorithm
biped walking
motion planning
motor skills
biologically inspired
motor control
reinforcement learning
actor critic
three dimensional
rough terrain
sensory feedback
face recognition
robot control