CPG Driven RBF Network Control with Reinforcement Learning for Gait Optimization of a Dung Beetle-Like Robot.
Matheshwaran PitchaiXiaofeng XiongMathias ThorPeter BilleschouPeter Lukas MailänderBinggwong LeungTomas KulviciusPoramate ManoonpongPublished in: ICANN (1) (2019)
Keyphrases
- rbf network
- biped robot
- legged robots
- reinforcement learning
- radial basis function
- autonomous robots
- quadruped robot
- mobile robot
- inverted pendulum
- optimization methods
- learning algorithm
- optimal control
- nonlinear functions
- robotic systems
- real robot
- optimization problems
- control strategy
- back propagation
- optimization algorithm
- hidden units
- control system
- neural network
- optimization method
- humanoid robot
- rbf neural network
- rough terrain
- adaptive control
- supervised learning
- small number
- learning process
- genetic algorithm