Model Predictive Control of Quadruped Robot Based on Reinforcement Learning

For the locomotion control of a legged robot, both model predictive control (MPC) and reinforcement learning (RL) demonstrate powerful capabilities. MPC transfers the high-level task to the lower-level joint control based on the understanding of the robot and environment, model-free RL learns how to...

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Auteurs principaux:	Zhitong Zhang, Xu Chang, Hongxu Ma, Honglei An, Lin Lang
Format:	Artigo
Langue:	Inglês
Publié:	MDPI AG 2022-12-01
Collection:	Applied Sciences
Sujets:	model predictive control reinforcement learning parameter adaptive quadruped robot
Accès en ligne:	https://www.mdpi.com/2076-3417/13/1/154
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