Learning to Walk With Toes

Authors

  • Jens Fischer Offenburg University of Applied Sciences
  • Klaus Dorer Offenburg University of Applied Sciences

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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Published

05.10.2020

Issue

UR-AI 2020 : Artificial Intelligence : Research Impact on Key Industries

Section

Articles

License

Copyright (c) 2020 Jens Fischer, Klaus Dorer

Creative Commons License

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