Learning to Walk With Toes
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Learning to Walk With Toes

Articles
Published 05.10.2020
Jens Fischer
Offenburg University of Applied Sciences
Klaus Dorer
Offenburg University of Applied Sciences
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Keywords

machine learning
genetic algorithms
humanoid robot walking

Abstract

This paper explains how a model-free (with respect to the robot model and the behavior to learn) approach can facilitate learning to walk from scratch. It is applied to a simulated Nao robot with toes. Results show an improvement of 30% in speed compared to a model without toes and also compared to our model-based approach, but with less stability.

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This work is licensed under a Creative Commons Attribution 4.0 International License.

Copyright (c) 2020 Jens Fischer, Klaus Dorer