Combined Reinforcement Learning and CPG Algorithm to Generate Terrain-Adaptive Gait of Hexapod Robots

Terrain adaptation research can significantly improve the motion performance of hexapod robots. In this paper, we propose a method that combines reinforcement learning with a central pattern generator (CPG) to enhance the terrain adaptation of hexapod robots in terms of gait planning. The hexapod ro...

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书目详细资料

Principais autores:	Daxian Li, Wu Wei, Zhiying Qiu
格式:	Artigo
语言:	Inglês
出版:	MDPI AG 2023-04-01
丛编:	Actuators
主题:	hexapod reinforcement learning central pattern generator terrain adaptation
在线阅读:	https://www.mdpi.com/2076-0825/12/4/157
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