Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot
نویسندگان
چکیده
منابع مشابه
Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot
In this paper we describe a learning framework for a central pattern generator (CPG)-based biped locomotion controller using a policy gradient method. Our goals in this study are to achieve CPG-based biped walking with a 3D hardware humanoid and to develop an efficient learning algorithm with CPG by reducing the dimensionality of the state space used for learning. We demonstrate that an appropr...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2008
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364907084980