Data-driven Extraction of Drive Functions for Legged Locomotion: A Study on Cheetah-cub Robot
نویسندگان
چکیده
The process of finding working gaits for legged robots always, to different extents, includes manual tuning, systematic search, or optimization of control parameters. This process populates a dataset of control parameter vectors and respective robot behavior factors including body rotations, speed, duty factor, etc. Normally, targeting actuated robots and not simulated ones, these datasets are sparse, unless systematic search with small parameter changes is applied.
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