Reinforcement learning of walking behavior for a four-legged robot

In this paper, we investigate a reinforcement learning of walking behavior for a four-legged robot. The robot has two servo motors per leg, so this problem has eight-dimensional continuous state/action space. We present an action selection scheme for actor-critic algorithms, in which the actor selects a continuous action from its bounded action space by using the normal distribution. The experimental results show the robot successfully learns to walk in practical learning steps