Quadruped robot gait control method based on reinforcement learning and CPG controller
A quadruped robot and gait control technology, applied in the field of robotics, can solve the problems of robot overturning, large change range, low reproducibility, etc., and achieve the effect of stable torso, prevention of overturning, and small change range
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[0042] The present invention will be further described in detail below in conjunction with specific embodiments and with reference to the drawings. It should be emphasized that the following description is only exemplary, and is not intended to limit the scope of the present invention and its application.
[0043] The design concept of the present invention is to allocate an oscillator to the legs of the quadruped robot, and each oscillator has a strict phase relationship; for each leg, a reinforcement learning neural network is deployed so that the neural network is based on the given target The position autonomously plans a fast motion trajectory so that the end of the leg can reach the target position as soon as possible.
[0044] Due to the development of artificial intelligence, the theory of deep learning and reinforcement learning has begun to be applied to robot kinematics planning. The characteristics of reinforcement learning are that there is no need to give a specific t...
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