Reinforcement Learning as a Method for Tuning CPG Controllers for Underwater Multi-Fin Propulsion
Anthony Drago,Gabe Carryon,James Tangorra,Anthony Drago,Gabe Carryon,James Tangorra
CPG-Based oscillator networks are increasingly being used to drive multi-limbed robots. To produce effective gaits with these networks, the relationship between the CPG parameters and the characteristics of the gait must be determined. However, due to the nonlinear nature of the oscillators, this relationship is challenging to ascertain. In this work a reinforcement learning algorithm is used to d...
