Figure 9 | Scientific Reports

Figure 9

From: Self-organizing neural network for reproducing human postural mode alternation through deep reinforcement learning

Figure 9

Evolution of the correlation coefficient, relative phase influenced by different hip stiffness values 25,  50,  75,  100,  125,  150,  175, and 200 [Nm/rad], respectively. Energy consumption penalization parameter \(\gamma\) in Eq. (6) is 20. The motion amplitude A of target point in Eq. (5) is 0.1 [m]. Ankle stiffness remains 25 [Nm/rad]. And the motion tracking frequency f of target point in Eq. (5) is 0.5 [Hz].

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