相关论文: CPG-ACTOR: Reinforcement Learning for Central Patt…

In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to produce robust and omnidirectional quadruped locomotion. The…

Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor…

Inspired by biological motion generation, central pattern generators (CPGs) is frequently employed in legged robot locomotion control to produce natural gait pattern with low-dimensional control signals. However, the limited adaptability…

The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration often compromises the system's control performance in…

Central Pattern Generators (CPGs) form the neural basis of the observed rhythmic behaviors for locomotion in legged animals. The CPG dynamics organized into networks allow the emergence of complex locomotor behaviors. In this work, we take…

An originally chaotic system can be controlled into various periodic dynamics. When it is implemented into a legged robot's locomotion control as a central pattern generator (CPG), sophisticated gait patterns arise so that the robot can…

Bio-inspired control of motion is an active field of research with many applications in real world tasks. In the case of robotic systems that need to exhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots), Central…

This paper introduces a new wheel-legged robot and develops motion controllers based on central pattern generators (CPGs) for the robot to navigate over a range of terrains. A transformable leg-wheel design is considered and characterized…

We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework.…

Biological studies reveal that neural circuits located at the spinal cord called central pattern generator (CPG) oscillates and generates rhythmic signals, which are the underlying mechanism responsible for rhythmic locomotion behaviors of…

Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for…

Intelligent control of soft robots is challenging due to the nonlinear and difficult-to-model dynamics. One promising model-free approach for soft robot control is reinforcement learning (RL). However, model-free RL methods tend to be…

Learning to walk -- i.e., learning locomotion under performance and energy constraints continues to be a challenge in legged robotics. Methods such as stochastic gradient, deep reinforcement learning (RL) have been explored for bipeds,…

In recent years, locomotion mechanisms exhibited by vertebrate animals have been the inspiration for the improvement in the performance of robotic systems. These mechanisms include the adaptability of their locomotion to any change…

Central Pattern Generators (CPGs) are biological neural circuits capable of producing coordinated rhythmic outputs in the absence of rhythmic input. As a result, they are responsible for most rhythmic motion in living organisms. This…

Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…

Reinforcement Learning (RL) can directly enhance the reasoning capabilities of large language models without extensive reliance on Supervised Fine-Tuning (SFT). In this work, we revisit the traditional Policy Gradient (PG) mechanism and…

This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…

While Central Pattern Generators (CPGs) and Multi-Layer Perceptrons (MLP) are widely used paradigms in robot control, few systematic studies have been performed on the relative merits of large parameter spaces. In contexts where input and…

In this paper, we propose enhancing actor-critic reinforcement learning agents by parameterising the final actor layer which produces the actions in order to accommodate the behaviour discrepancy of different actuators, under different load…