Deep Reinforcement Learning for Model Predictive Controller Based on Disturbed Single Rigid Body Model of Biped Robots
This paper modifies the single rigid body (SRB) model, and considers the swinging leg as the disturbances to the centroid acceleration and rotational acceleration of the SRB model. This paper proposes deep reinforcement learning (DRL)-based model predictive control (MPC) to resist the disturbances o...
| Principais autores: | , , , , , |
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| Formato: | Artigo |
| Idioma: | English |
| Publicado em: |
MDPI AG
2022-10-01
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| coleção: | Machines |
| Assuntos: | |
| Acesso em linha: | https://www.mdpi.com/2075-1702/10/11/975 |