Journal article
Parallel Deep Reinforcement Learning Method for Gait Control of Biped Robot
Abstract
In this brief, a parallel Deep Deterministic Policy Gradient (DDPG) algorithm is presented for biped robot gait control. Biped robot gait control is a high-dimensional continuous problem. It is challenging to obtain a fast and stable gait. Traditional methods cannot fully utilize autonomous exploration capability of a biped robot. A multiple Actor-Critic (AC) network is established to expand the scope of exploration and improve training …
Authors
Tao C; Xue J; Zhang Z; Gao Z
Journal
IEEE Transactions on Circuits & Systems II Express Briefs, Vol. 69, No. 6, pp. 2802–2806
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
June 1, 2022
DOI
10.1109/tcsii.2022.3145373
ISSN
1549-7747