TDE2-MBRL: Energy-exchange Dynamics Learning with Task Decomposition for Spring-loaded Bipedal Robot Locomotion-Reference-Cited by-同舟云学术

TDE2-MBRL: Energy-exchange Dynamics Learning with Task Decomposition for Spring-loaded Bipedal Robot Locomotion

Published:2022-11-28 Issue: Volume: Page:
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Container-title:2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
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Author:

Kuo Cheng-Yu¹,Shin Hirofumi²,Kamioka Takumi²,Matsubara Takamitsu¹

Affiliation:

1. Graduated School of Science and Technology, Nara Institute of Science and Technology,Nara,Japan

2. Honda R&D Co., Ltd.,Saitama,Japan

Publisher

IEEE

Link

http://xplorestaging.ieee.org/ielx7/9999736/9999739/10000180.pdf?arnumber=10000180

Reference27 articles.

1. Survey of Model-Based Reinforcement Learning: Applications on Robotics

2. Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model

3. Pilco: A model-based and data-efficient approach to policy search;deisenroth;Proceedings of the 28th International Conference on International Conference on Machine Learning,2011

4. Constrained model predictive control: Stability and optimality;mayne;Automatica,2000

5. Sim-to-reallearning of all common bipedal gaits via periodic reward composition;siekmann;IEEE International Conference on Robotics and Automation,2021

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1. Reinforcement Learning With Energy-Exchange Dynamics for Spring-Loaded Biped Robot Walking;IEEE Robotics and Automation Letters;2023-10

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