Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker
IEEE Conference on Decision and Control（2024）
Key words
Predictive Control,Learning-based Approaches,Learning Solutions,Region Of Attraction,Robot Dynamics,Gait Stability,Walking Gait,Legged Robots,Walking Stability,Neural Network,Optimization Problem,Value Function,Optimal Control,Control Problem,Parametrized,Partial Differential Equations,Dynamic Programming,Loss Term,Limit Cycle,Gait Parameters,Nonlinear Model Predictive Control,Stable Limit Cycle,Robot Model,Model-based Design,Reinforcement Learning Policy,Robot State,Reachability Analysis,Stance Leg,Dynamic Contact,State Space
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