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Showing 1 to 3 of 3 for “"Dynamic Bipedal Walking"”.
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Dynamic bipedal walking assisted by learning
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
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Applied optimal control for dynamically stable legged locomotion
… acquire a robust feedback control policy for 3D dynamic bipedal walking from a blank slate using only trials implemented on the physical robot. The robot begins walking within a minute and learning converges in approximately 20 minutes. The learning works quickly enough that the robot is able to …
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Machine Learning Simulation: Torso Dynamics of Robotic Biped
… for legs. However, the equations of motion of dynamic bipedal walker models are highly coupled and non-linear, making the selection of an appropriate control scheme difficult. A temporal difference reinforcement learning method known as Q-learning develops complex control policies through …