CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion
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DOI: 10.1109/lra.2022.3218167
Abstract: In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to produce robust and omnidirectional quadruped locomotion. The agent learns… read more here.
Keywords: central pattern; pattern generators; cpg learning; quadruped locomotion ... See more keywords