Quadruped robot harmonious control based on RBF-Q learning

Abstract

This paper designed a kind of foot end tracking the ideal trajectory of motor coordination method by using adaptive RBF network and Q learning algorithm through the analysis of quadruped robot movement coordinated realization method.The simulation results show that the method can control the foot end of the quadruped robot to accurately track the trajectory of a given speed and displacement,and achieve quadruped robot motor coordination.