CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion. (arXiv:2211.00458v1 [cs.RO])

In this letter, we present a method for integrating central pattern
generators (CPGs), i.e. systems of coupled oscillators, into the deep
reinforcement learning (DRL) framework to produce robust and omnidirectional
quadruped locomotion. The agent learns to directly modulate the intrinsic
oscillator setpoints (amplitude and frequency) and coordinate rhythmic behavior
among different oscillators. This approach also allows the use of DRL to
explore questions related to neuroscience, namely the role of descending
pathways, interoscillator couplings, and sensory feedback in gait generation. …

arxiv cpg