Q-learning for POMDP: An application to learning locomotion gaits

30 Sep 2019 Wang Tixian Taghvaei Amirhossein Mehta Prashant G.

This paper presents a Q-learning framework for learning optimal locomotion gaits in robotic systems modeled as coupled rigid bodies. Inspired by prevalence of periodic gaits in bio-locomotion, an open loop periodic input is assumed to (say) affect a nominal gait... (read more)

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