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Implementation of Deep Deterministic Policy Gradients for Controlling Dynamic Bipedal Walking
A control system for bipedal walking in the sagittal plane was developed in simulation. The biped model was built based on anthropometric data for a 1.8 m tall male of average build. At the core of the controller is a deep deterministic policy gradient (DDPG) neural network that was trained in GAZEB...
| Autores principales: | , , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2019
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6477666/ https://www.ncbi.nlm.nih.gov/pubmed/31105213 http://dx.doi.org/10.3390/biomimetics4010028 |