Quadrupedal Locomotion via Central Pattern Generator(CPG) and Reinforcement Learning(RL)
Overview In this project, we control the locomotion of a quadrupedal robot via CPG and RL respectively.
The CPG controller generates different gaits according to predefined parameter sets and keeps balance after tuning, which . The maximum speed reached with the gait pronk, whereas the fastest gait for real dogs is rotatory gallop. In our opinion,
for a faster locomotion with simple CPG, more sensors are needed to keep balance and seize the right moment to swing.
