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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Bibliographic Details

Published in:	IEEE robotics and automation letters Vol. 7; no. 2; pp. 1230 - 1237
Main Authors:	Shao, Yecheng, Jin, Yongbin, Liu, Xianwei, He, Weiyan, Wang, Hongtao, Yang, Wei
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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 Access:	Get full text
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