CPG-ACTOR: reinforcement learning for central pattern generators
Central Pattern Generators (CPGs) have several properties desirable for locomotion: they generate smooth trajectories, are robust to perturbations and are simple to implement. However, they are notoriously difficult to tune and commonly operate in an open-loop manner. This paper proposes a new metho...
| Main Authors: | , , , , |
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| Format: | Conference item |
| Language: | English |
| Published: |
Springer
2021
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