Learning hybrid locomotion skills—Learn to exploit residual actions and modulate model-based gait control

This work has developed a hybrid framework that combines machine learning and control approaches for legged robots to achieve new capabilities of balancing against external perturbations. The framework embeds a kernel which is a model-based, full parametric closed-loop and analytical controller as t...

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Detalles Bibliográficos
Autores principales: Kasaei, Mohammadreza, Abreu, Miguel, Lau, Nuno, Pereira, Artur, Reis, Luis Paulo, Li, Zhibin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2023
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10123269/
https://www.ncbi.nlm.nih.gov/pubmed/37102130
http://dx.doi.org/10.3389/frobt.2023.1004490

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10123269/
https://www.ncbi.nlm.nih.gov/pubmed/37102130
http://dx.doi.org/10.3389/frobt.2023.1004490

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