Reinforcement Learning-based Hierarchical Control for Path Following of a Salamander-like Robot
Xueyou Zhang,Xian Guo,Yongchun Fang,Wei Zhu,Xueyou Zhang,Xian Guo,Yongchun Fang,Wei Zhu
Path following is a challenging task for legged robots. In this paper, we present a hierarchical control architecture for path following of a quadruped salamander-like robot, in which, the tracking problem is decomposed into two sub-tasks: high-level policy learning based on the framework of reinforcement learning (RL) and low-level traditional controller design. More specifically, the high-level ...
