CPG Driven RBF Network Control with Reinforcement Learning for Gait Optimization of a Dung Beetle-Like Robot

In this paper, we employ a central pattern generator (CPG) driven radial basis function network (RBFN) based controller to learn optimized locomotion for a complex dung beetle-like robot using reinforcement learning approach called "Policy Improvement with Path Integrals (PI2)". Our CPG driven RBFN controller is inspired by rhythmic dynamic movement primitives (DMPs). The controller can be also seen as an extension to a traditional CPG controller, which usually controls only the frequency of the motor patterns but not the shape. Our controller uses the CPG to control the frequency while the RBFN takes care of the shape of the motor patterns. In this paper, we only focus on the shape of the motor patterns and optimize those with respect to walking speed and energy efficiency. As a result, the robot can travel faster and consume less power than using only the CPG controller.