WASET
	@article{(Open Science Index):https://publications.waset.org/pdf/10012225,
	  title     = {Gaits Stability Analysis for a Pneumatic Quadruped Robot Using Reinforcement Learning},
	  author    = {Soofiyan Atar and  Adil Shaikh and  Sahil Rajpurkar and  Pragnesh Bhalala and  Aniket Desai and  Irfan Siddavatam},
	  country	= {},
	  institution	= {},
	  abstract     = {Deep reinforcement learning (deep RL) algorithms leverage the symbolic power of complex controllers by automating it by mapping sensory inputs to low-level actions. Deep RL eliminates the complex robot dynamics with minimal engineering. Deep RL provides high-risk involvement by directly implementing it in real-world scenarios and also high sensitivity towards hyperparameters. Tuning of hyperparameters on a pneumatic quadruped robot becomes very expensive through trial-and-error learning. This paper presents an automated learning control for a pneumatic quadruped robot using sample efficient deep Q learning, enabling minimal tuning and very few trials to learn the neural network. Long training hours may degrade the pneumatic cylinder due to jerk actions originated through stochastic weights. We applied this method to the pneumatic quadruped robot, which resulted in a hopping gait. In our process, we eliminated the use of a simulator and acquired a stable gait. This approach evolves so that the resultant gait matures more sturdy towards any stochastic changes in the environment. We further show that our algorithm performed very well as compared to programmed gait using robot dynamics.},
	    journal   = {International Journal of Industrial and Manufacturing Engineering},
	  volume    = {15},
	  number    = {9},
	  year      = {2021},
	  pages     = {375 - 380},
	  ee        = {https://publications.waset.org/pdf/10012225},
	  url   	= {https://publications.waset.org/vol/177},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 177, 2021},
	}