2024
DOI: 10.3390/machines12120902
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Multi-Agent Reinforcement Learning Tracking Control of a Bionic Wheel-Legged Quadruped

Rezwan Al Islam Khan,
Chenyun Zhang,
Zhongxiao Deng
et al.

Abstract: This paper presents a novel approach to developing control strategies for mobile robots, specifically the Pegasus, a bionic wheel-legged quadruped robot with unique chassis mechanics that enable four-wheel independent steering and diverse gaits. A multi-agent (MA) reinforcement learning (RL) controller is proposed, treating each leg as an independent agent with the goal of autonomous learning. The framework involves a multi-agent setup to model torso and leg dynamics, incorporating motion guidance optimization… Show more

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