Optimization Control of Attitude Stability for Hexapod Robots Based on Reinforcement Learning
To enhance the attitude stability of hexapod robots on rough terrain, this paper introduces a layered modular motion control method, termed reinforcement learning integrated with foot impedance control and an optimized reward mechanism. It integrates gait and foot impedance coordinated planning with...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10731959/ |