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Robust biped locomotion using deep reinforcement learning on top of an analytical control approach

  • Published:2021-12 Issue: Volume:146 Page:103900
  • ISSN:0921-8890
  • Container-title:Robotics and Autonomous Systems
  • language:en
  • Short-container-title:Robotics and Autonomous Systems

Author:

Kasaei MohammadrezaORCID,Abreu MiguelORCID,Lau NunoORCID,Pereira Artur,Reis Luis Paulo

Funder

Fundação para a Ciência e a Tecnologia

Publisher

Elsevier BV

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference53 articles.

1. Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode;Kajita,1991

2. Biped walking pattern generation by using preview control of zero-moment point;Kajita,2003

3. Biped walking stabilization based on linear inverted pendulum tracking;Kajita,2010

4. Biped walking pattern generation by using preview control based on three-mass model;Shimmyo;IEEE Trans. Ind. Electron.,2013

5. 3LP: A linear 3D-walking model including torso and swing dynamics;Faraji;Int. J. Robot. Res.,2017

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