— Recently, many researchers on humanoid robotics are interested in Quasi-Passive-Dynamic Walking (Quasi-PDW) which is similar to human walking. It is desirable that control para...
A class of biped locomotion called Passive Dynamic Walking (PDW) has been recognized to be efficient in energy consumption and a key to understand human walking. Although PDW is s...
— Biped robots based on the concept of (passive) dynamic walking are far simpler than the traditional fullycontrolled walking robots, while achieving a more natural gait and cons...
Shouyi Wang, Jelmer Braaksma, Robert Babuska, Daan...
We consider the policy search approach to reinforcement learning. We show that if a “baseline distribution” is given (indicating roughly how often we expect a good policy to v...
J. Andrew Bagnell, Sham Kakade, Andrew Y. Ng, Jeff...
Abstract— We propose to improve the locomotive performance of humanoid robots by using approximated biped stepping and walking dynamics with reinforcement learning (RL). Although...
Jun Morimoto, Christopher G. Atkeson, Gen Endo, Go...