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Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for a specific task and it is acknowledged in the field that generic methods and design principles for creating individual networks for a given task are lacking. This...
Developing fast gaits for legged robots is a difficult task that requires optimizing parameters in a multidimensional space. In most previous works, it was done by hand-tuning the parameters related to walking, using evolutionary algorithm or reinforcement learning to optimize these parameters. As we know, the approach combining evolution and learning would have some special characters compared to...
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