Learning Free Gait Transition for Quadruped Robots Via Phase-Guided Controller

Gaits and transitions are key components in legged locomotion. For legged robots, describing and reproducing gaits as well as transitions remain longstanding challenges. Reinforcement learning has become a powerful tool to formulate controllers for legged robots. Learning multiple gaits and transiti...

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Vydáno v:	IEEE robotics and automation letters Ročník 7; číslo 2; s. 1230 - 1237
Hlavní autoři:	Shao, Yecheng, Jin, Yongbin, Liu, Xianwei, He, Weiyan, Wang, Hongtao, Yang, Wei
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Piscataway IEEE 01.04.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Foot Gait Learning Legged locomotion legged robots Locomotion machine learning for robot control Oscillators Phases Quadrupedal robots Reinforcement learning Robot dynamics Robots Task analysis Training
ISSN:	2377-3766, 2377-3766
On-line přístup:	Získat plný text
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