Table 4 The basic definitions of the mathematical notation used in the equations for the reward terms.
From: Bio-inspired neural networks with central pattern generators for learning multi-skill locomotion
Notation | Definition |
|---|---|
\(\varvec{\varphi }_{b}\) | Projection of the gravity vector in the robot base frame |
\(h_{b}\) | Robot base height (z) in the world frame |
\(v_{x}\) | Forward velocity of the robot base along robot heading |
\(v_{y}\) | Lateral velocity of the robot base along robot heading |
\(v_{z}\) | Vertical linear velocity of the robot base |
\(\omega _{roll}\) | Roll angular velocity of the robot base |
\(\omega _{pitch}\) | Pitch angular velocity of the robot base |
\(\omega _{yaw}\) | Yaw angular velocity of the robot base |
\(\varvec{\tau }\) | Torque of joints |
\(\varvec{q}\) | Angle of joints |
\(\varvec{\dot{q}}\) | Velocity of joints |
\((\hat{\cdot })\) | Desired quantity of placeholder property \((\cdot )\) |
\(\varvec{p}_{f, n}\) | The n-th foot horizontal coordinates in the world frame |
\(\varvec{p}_{b}\) | Base horizontal coordinates in the world frame |
\(\varvec{p}_{h, n}\) | The n-th hip horizontal coordinates in the world frame |
\(h_{f, n}^{w}\) | Height of n-th foot in world frame |
\(v_{f, n}^{w}\) | Velocity of n-th foot in world frame |
