This article presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque–speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in the training process to reduce state transitions that are infeasible in the real world due to motor torque–speed limitations. The gait … [Read more...] about Reinforcement Learning for High-Speed Quadrupedal Locomotion With Motor Operating Region Constraints: Mitigating Motor Model Discrepancies through Torque Clipping in Realistic Motor Operating Region
Motor drives
Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
This article presents a novel biomimetic force and impedance adaption framework based on the broad learning system (BLS) for robot control in stable and unstable environments. Different from iterative learning control, the adaptation process is realized by a neural network (NN)-based framework, similar to a BLS, to realize a varying learning rate for feedforward force and … [Read more...] about Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
