Deep Reinforcement Learning for Model Predictive Controller Based on Disturbed Single Rigid Body Model of Biped Robots

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...

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Bibliographic Details
Main Authors: Landong Hou, Bin Li, Weilong Liu, Yiming Xu, Shuhui Yang, Xuewen Rong
Format: Article
Language:English
Published: MDPI AG 2022-10-01
Series:Machines
Subjects:
biped robots
single rigid body
model predictive control
deep reinforcement learning
Online Access:https://www.mdpi.com/2075-1702/10/11/975

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