ABSTRACT
In this chapter, we introduce a two-layered biologically inspired biped learning system composed of a lower-level central pattern generator (CPG) and an upper-level reinforcement learning (RL) module. In this proposed approach, the lower-level CPG is used to generate nominal periodic walking patterns and also used to synchronize the periodic patterns with sensory inputs in order to construct an attractive limit cycle. On the other hand, the upper-level reinforcement learning module is used to modulate parameters of the CPG in order to improve walking performances with respect to the provided objective function. Figure 7.1 shows the schematic diagram of the biped learning system.
