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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Veröffentlicht in:	IEEE robotics and automation letters Jg. 7; H. 2; S. 1230 - 1237
Hauptverfasser:	Shao, Yecheng, Jin, Yongbin, Liu, Xianwei, He, Weiyan, Wang, Hongtao, Yang, Wei
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.04.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	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
Online-Zugang:	Volltext
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