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Reinforcement Learning Control for Biped Robot Walking on Uneven Surfaces
The 2006 IEEE International Joint Conference on Neural Network Proceedings
Biped robots based on the concept of (passive) dynamic walking are far simpler than the traditional fullycontrolled walking robots, while achieving a more natural gait and consuming less energy. However, lightly actuated dynamic walking robots, which rely on the natural limit cycle of their mechanical structure, are very sensitive to ground disturbances. Already a very small step down can cause the robot to lose stability. In this paper, we investigate the use of reinforcement learning to makedoi:10.1109/ijcnn.2006.246966 fatcat:ejifdlqunbapxijidu6m7v4yly