Changeui Shin

Reinforcement Learning-based Impact Forces-Optimized Gait Control for Humanoid Locomotion: Toward Smooth and Quiet Walking

This paper proposes a reinforcement learning-based Impact Forces-Optimized Gait Control framework for achieving smooth and quiet humanoid locomotion. The proposed method integrates a quintic polynomial swing-foot trajectory designed to ensure zero vertical velocity and acceleration at foot-ground contact with a joint-j...