A Hierarchical Framework for Quadruped Robots Gait Planning Based on DDPG

In recent years, significant progress has been made in employing reinforcement learning for controlling legged robots. However, a major challenge arises with quadruped robots due to their continuous states and vast action space, making optimal control using simple reinforcement learning controllers...

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Hlavní autoři:	Yanbiao Li, Zhao Chen, Chentao Wu, Haoyu Mao, Peng Sun
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2023-08-01
Edice:	Biomimetics
Témata:	quadruped robots hierarchical reinforcement learning Deep Deterministic Policy Gradient model predictive control
On-line přístup:	https://www.mdpi.com/2313-7673/8/5/382
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