CPG-ACTOR: reinforcement learning for central pattern generators

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...

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Príomhchruthaitheoirí:	Campanaro, L, Gangapurwala, S, De Martini, D, Merkt, W, Havoutis, I
Formáid:	Conference item
Teanga:	English
Foilsithe / Cruthaithe:	Springer 2021

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