Adaptive posture control of a four-legged walking machine using some principles of mammalian locomotion
نویسندگان
چکیده
This paper presents an adaptive control scheme for the four legged walking machine BISAM. The task of the adaptive control is to learn sensor based reflexes for posture control. For this purpose, an incremental learning scheme is developed based on reinforcement learning. For the planned trajectory of the CoM the data taken from a goat are chosen as a basis, to investigate the transfer potential of biological locomotion to machine motion at this control level.
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