Research on Self-Recovery Control Algorithm of Quadruped Robot Fall Based on Reinforcement Learning

Research on Self-Recovery Control Algorithm of Quadruped Robot Fall Based on Reinforcement Learning

When a quadruped robot is climbing stairs, due to unexpected factors, such as the size of the differing from the international standard or the stairs being wet and slippery, it may suddenly fall down. Therefore, solving the self-recovery problem of the quadruped robot after falling is of great signi...

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Bibliographic Details
Main Authors: Guichen Zhang, Hongwei Liu, Zihao Qin, Georgy V. Moiseev, Jianwen Huo
Format: Article
Language:English
Published: MDPI AG 2023-03-01
Series:Actuators
Subjects:
quadruped robot
self-recovery from falls
motion model
reinforcement learning
Online Access:https://www.mdpi.com/2076-0825/12/3/110

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