A Novel Approach to Locomotion Learning: Actor-Critic Architecture using Central Pattern Generators and Dynamic Motor Primitives

In this article, we propose an architecture of a bio-inspired controller that addresses the problem of learning different locomotion gaits for different robot morphologies. The modelling objective is split into two: baseline motion modelling and dynamics adaptation. Baseline motion modelling aims to...

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Detalhes bibliográficos

Principais autores:	Cai eLi, Robert eLowe, Tom eZiemke
Formato:	Artigo
Idioma:	Inglês
Publicado em:	Frontiers Media S.A. 2014-10-01
coleção:	Frontiers in Neurorobotics
Assuntos:	reinforcement learning actor-critic Locomotion control Central pattern generators (CPG) NAO robot
Acesso em linha:	http://journal.frontiersin.org/Journal/10.3389/fnbot.2014.00023/full
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