Kevin David Ortega-Quiñones

A Subsystem-Level Validation and Simulation Framework for a 12-DoF Biped Robot with Deep Reinforcement Learning Locomotion

This work presents a subsystem-level modelling, validation, and control framework for a 12-DoF biped robot, combining Denavit–Hartenberg kinematics, Euler–Lagrange dynamics, a Discrete Euler–Lagrange reference integrator, Hunt–Crossley contact, and Soft Actor-Critic training in PyBullet.