A fault-tolerant gait of multi-legged systems is defined as a gait which can maintain the gait stability and continue its walking against the occurrence of a leg failure (Yang & Kim, 1998). The notion of the fault-tolerant gait comes from the fact that legged robots with static walking have inherent fault tolerance capability against a failure in a leg, since a failed leg for itself does not ca...

Energy efficiency is critical for the locomotion of quadruped robots. However, energy values found in simulations do not transfer adequately to real world. To address this issue, we present a novel method, named Policy Search Transfer Optimization (PSTO), which combines deep reinforcement learning and optimization create energy-efficient robots The policy search process are performed by TD3 alg...