Model Predictive Control of Quadruped Robot Based on Reinforcement Learning

Model Predictive Control of Quadruped Robot Based on Reinforcement Learning

For the locomotion control of a legged robot, both model predictive control (MPC) and reinforcement learning (RL) demonstrate powerful capabilities. MPC transfers the high-level task to the lower-level joint control based on the understanding of the robot and environment, model-free RL learns how to...

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Bibliographic Details
Main Authors: Zhitong Zhang, Xu Chang, Hongxu Ma, Honglei An, Lin Lang
Format: Article
Language:English
Published: MDPI AG 2022-12-01
Series:Applied Sciences
Subjects:
model predictive control
reinforcement learning
parameter adaptive
quadruped robot
Online Access:https://www.mdpi.com/2076-3417/13/1/154

Internet

https://www.mdpi.com/2076-3417/13/1/154

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