Waleed Al-Ashtari

Reinforcement Learning for Real-Time Auto-Tuning of Robot’s Controllers

This research introduces an innovative control technique for Series Elastic Actuators (SEAs) that utilizes Reinforcement Learning (RL) to address the shortcomings of previously fixed-gain adaptive controllers, which are a hybrid of State Feedback Control (SFC) and Model Reference Adaptive Control (MRAC) by using Lyapun...