Reinforcement learning of robotic control policies

Prof. Miriam Zacksenhouse | Mechanical Engineering


Automation, Mobility and Aerospace | Information and Computer Science

The Technology

Robots are expected to propagate over different terrains. There is a growing need to provide a method for controlling a movement of a robot that is robust, can allow the robot to propagate over terrains with positive and negative slopes, and is cost effective.

A method and a device for controlling a movement and multiple steps of a robot. The method can include multiple iterations of: (i) calculating or receiving a first slope attribute indicative of a slope of a first area of a terrain on which a first leg of the robot steps; (ii) feeding the first slope attribute to a central pattern generator (CPG); and (iii) generating, by the CPG and in response to the slope attribute, at least one control pulse for controlling a torque characteristic of a torque applied by at least one leg of the robot.


  • Cost effective
  • Controlling multiple steps of the robot
  • Controlling a movement of a robot
  • The method and devices can be applicable to robots that have: knee/ ankle joints, more than two joints per leg, more than two legs with different configurations, have torso and more.

Applications and Opportunities

  • The methods and devices can be applied to various robotic applications, in particular for companion robots, which have to maneuver in human accessible environments.
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