An online learning algorithm for adapting leg stiffness and stride angle for efficient quadruped robot trotting
Animals adjust their leg stiffness and stride angle in response to changing ground conditions and gait parameters, resulting in improved stability and reduced energy consumption. This paper presents an online learning algorithm that attempts to mimic such animal behavior by maximizing energy efficie...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2023-04-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1127898/full |