Gaits generation of quadruped locomotion for the CPG controller by the delay-coupled VDP oscillators
Z Song, J Zhu, J Xu - Nonlinear Dynamics, 2023 - Springer
Generating locomotive gaits is a very important work for bioinspired robots and has received
wide attentions among scientists and engineers. The central pattern generator (CPG) neural …
wide attentions among scientists and engineers. The central pattern generator (CPG) neural …
Identifying essential factors for energy-efficient walking control across a wide range of velocities in reflex-based musculoskeletal systems
S Koseki, M Hayashibe, D Owaki - PLOS Computational Biology, 2024 - journals.plos.org
Humans can generate and sustain a wide range of walking velocities while optimizing their
energy efficiency. Understanding the intricate mechanisms governing human walking will …
energy efficiency. Understanding the intricate mechanisms governing human walking will …
Comparative analysis of reinforcement learning algorithms for bipedal robot locomotion
O Aydogmus, M Yilmaz - IEEE Access, 2023 - ieeexplore.ieee.org
In this research, an optimization methodology was introduced for improving bipedal robot
locomotion controlled by reinforcement learning (RL) algorithms. Specifically, the study …
locomotion controlled by reinforcement learning (RL) algorithms. Specifically, the study …
AI-CPG: Adaptive Imitated Central Pattern Generators for Bipedal Locomotion Learned Through Reinforced Reflex Neural Networks
Humans have many redundancies in their bodies and can make effective use of them to
adapt to changes in the environment while walking. They can also vary their walking speed …
adapt to changes in the environment while walking. They can also vary their walking speed …
Dynamic Stabilization of Unstable Limit Cycles in Passive Walking via Deep Reinforcement Learning
F Ranjbaran, M Naraghi, VE Bojnourdi… - 2023 11th RSI …, 2023 - ieeexplore.ieee.org
In this research, Deep Reinforcement Learning (DRL) is employed to develop an ankle
controller for a passive biped walker with round feet. The selected DRL technique is Soft …
controller for a passive biped walker with round feet. The selected DRL technique is Soft …
[PDF][PDF] RL-Policy Guided Optimal Design of Parallel Elastic Actuator for Weak Actuation of Bipedal Robot
A Cueva - alfred-cueva.github.io
The use of parallel elastic actuators provides additional torques in bipedal robots. However
due to existing constraints like available power or joint's range of motion, optimal actuators …
due to existing constraints like available power or joint's range of motion, optimal actuators …