关键词：步行机；腿式机器人；自动调谐；增强学习算法；行走速度
摘 要：I worked on improving the walking speed and autonomous behaviour of OctoRoACH, an inexpensive and robust palm-sized eight legged robot developed by the Biomimetic Millisystems Lab, together with my capstone project members and advisors at UC Berkeley. Our results show that reinforcement learning algorithms is useful to improve the walking speed of existing search and rescue robots across different terrains and save more lives during disaster situations.