Web: http://arxiv.org/abs/2209.07171

Sept. 16, 2022, 1:11 a.m. | Antonin Raffin, Daniel Seidel, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp

cs.LG updates on arXiv.org arxiv.org

Spring-based actuators in legged locomotion provide energy-efficiency and
improved performance, but increase the difficulty of controller design. Whereas
previous works have focused on extensive modeling and simulation to find
optimal controllers for such systems, we propose to learn model-free
controllers directly on the real robot. In our approach, gaits are first
synthesized by central pattern generators (CPGs), whose parameters are
optimized to quickly obtain an open-loop controller that achieves efficient
locomotion. Then, to make that controller more robust and further …


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