Biped robots with passive springs learn high-performance locomotion more efficiently via model-based RL by exploiting natural limit cycles from dynamic body-ground interactions.
Integration of feedforward and feedback con- trol in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies
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Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
Biped robots with passive springs learn high-performance locomotion more efficiently via model-based RL by exploiting natural limit cycles from dynamic body-ground interactions.