Implementation of Deep Deterministic Policy Gradients for Controlling Dynamic Bipedal Walking
A control system for bipedal walking in the sagittal plane was developed in simulation. The biped model was built based on anthropometric data for a 1.8 m tall male of average build. At the core of the controller is a deep deterministic policy gradient (DDPG) neural network that was trained in GAZEB...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-03-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/4/1/28 |