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In this paper we present a framework to learn a model-free feedback controller for locomotion and balance control of a compliant quadruped robot walking on rough terrain. Having designed an open-loop gait encoded in a Central Pattern Generator (CPG), we use a neural network to represent sensory feedback inside the CPG dynamics. This neural network accepts sensory inputs from a gyroscope or a camera, and its weights are learned using Particle Swarm Optimization (unsupervised learning). We show with a simulated compliant quadruped robot that our controller can perform significantly better than the open-loop one on slopes and randomized height maps.
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Mostafa Ajallooeian, Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu
Sébastien Gay, Auke Ijspeert, José Santos-Victor