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2 papers

2017arXiv preprint arXiv:1707.02286 (presented at NeurIPS 2017)

Emergence of Locomotion Behaviours in Rich Environments

Jay Lemay, David Silver, Nicolas Heess, Srinivasan Sriram, Darren King, Koray Kavukcuoglu

Finding: The trained policies exhibited emergent behaviors like walking, running, jumping, and even leaping across various environments, demonstrating robust locomotion.

locomotion deep reinforcement learning

2004International Journal of Humanoid Robotics, vol. 1, no. 1, pp. 157-173, DOI: 10.1142/S0219843604000083

Zero-moment point – thirty five years of its life

Branislav Borovac, Miomir Vukobratović

Finding: ZMP has become a cornerstone of bipedal stability control, and many successful algorithms are based on it.

ZMP balance