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A Stability Training Method of Legged Robots Based on Training Platforms and Reinforcement Learning with Its Simulation and Experiment

This paper continues the proposed idea of stability training for legged robots with any number of legs and any size on a motion platform and introduces the concept of a learning-based controller, the global self-stabilizer, to obtain a self-stabilization capability in robots. The overall structure o...

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Detalles Bibliográficos
Autores principales: Wu, Weiguo, Gao, Liyang, Zhang, Xiao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9504457/
https://www.ncbi.nlm.nih.gov/pubmed/36144059
http://dx.doi.org/10.3390/mi13091436