Learnable Tegotae-based Feedback in CPGs with Sparse Observation Produces Efficient and Adaptive Locomotion
Christopher Herneth,Mitsuhiro Hayashibe,Dai Owaki,Christopher Herneth,Mitsuhiro Hayashibe,Dai Owaki
Central Pattern generators (CPG) are a biologically inspired, decentralized control architecture that enables model-free, but yet adaptively stable and computational lightweight locomotion capabilities on complex robots. Nevertheless, no unified design guidelines for closed-loop CPG controllers are available in the literature. Therefore, we propose a task-distributed, end-to-end trainable, closed-...
