Efficient Gait Generation using Reinforcement Learning
نویسندگان
چکیده
The use of a free gait becomes necessary when walking over discontinuous terrain or when performing changes in the heading of the robot. If no look-ahead planning is possible, the free gait must be generated reactively. We present a basic gait generation strategy and a heuristic enhancement of it that results in a significant efficiency improvement. In the search for a better strategy, we decided to let the robot adjust the gait by itself attending to a reinforcement signal. Results of the application of a novel reinforcement learning algorithm to the free gait generation task are reported.
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