[source] Robotics & Automation
[year] 2007
They improved biped walking controllers based on an approximated Poincare map using a model-based RL framework.
model-based RL algorithm for biped walking in which robot learns to appropriately modulate an observed walking pattern.
minimum jerk criterion检测中via-point
RL控制via-point,是基于庞映射的
是从single support phase and the controlled via-points 到 next single support phase的映射
1.在每个via-point (pi/2 及 3pi/2)处定义了状态， 此时可采取action
2.对via-points之间的用PDs完成
3.决定下一via-point的映射需要学习得到
4.用Guassian distribution来表示policy