Reinforcement Learning of a CPG-regulated Locomotion Controller for a Soft Snake Robot.
Xuan LiuCagdas D. OnalJie FuPublished in: CoRR (2022)
Keyphrases
- central pattern generator
- reinforcement learning
- robot control
- legged robots
- motion control
- mobile robot
- quadruped robot
- real robot
- robotic systems
- rough terrain
- function approximation
- pid controller
- control architecture
- biped walking
- optimal control
- autonomous robots
- stability margin
- active contours
- robotic manipulator
- state space
- multi agent
- autonomous learning
- reinforcement learning algorithms
- perceptual aliasing
- robot moves
- legged locomotion
- control system
- markov decision processes
- control policy
- model free
- control law
- active contour model
- optimal policy
- fuzzy logic controller
- adaptive control
- control signals
- path planning
- vision system
- real time