GLAMDRING: Gait Learning And Morphology co-Design via Reinforcement LearnING of CPGs
Three key findings are shown: co-designing body and gait is necessary to satisfy locomotion constraints; actuator-envelope feasibility, rather than locomotion success alone, determines realizable payload capacity; and canonical animal gaits emerge naturally in most designs from morphology and constraints alone.
Amogh Joshi, Kaushik Roy
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