Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Guillermo A. Castillo,Bowen Weng,Wei Zhang,Ayonga Hereid,Guillermo A. Castillo,Bowen Weng,Wei Zhang,Ayonga Hereid
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in an end-to-end manner or rely on prior knowledge of some reference joint trajectories. Different from these studies, we propose a novel policy structure that appropriately incorporates physical insights gained from the h...
