ML-Agent Quadruped - Learn a quadruped robot how to walk using reinforcement (C#)
Introduction What is Walk ? First of all, in four-legged animals, the movements are carried out thanks to the action of successively lifting their legs.
When one or more members are lifted, the quadruped must coordinate the other members in order to maintain support. The sequence of different combinations of support correspond to a gait.
The most common gaits include walking, trotting and cantering.
In a quadruped movement, there are several phases that contribute to the movement :