关键词：自适应步态调整；有限差分策略；腿式机器人；步行机；强化学习算法；搜索范围
摘 要：This paper describes the need for adaptive gait tuning on an eight-legged robot, which will enable it to adjust its gait parameters to increase the speed at which it navigates difficult and varying terrains. Specifically, we characterize the robot’s performance on varied terrains and use the results to inform the implementation of a finite-difference policy gradient reinforcement learning algorithm.