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Kevin David Ortega-Quiñones

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Open access Sep 2026

A Subsystem-Level Validation and Simulation Framework for a 12-DoF Biped Robot with Deep Reinforcement Learning Locomotion

This work presents a subsystem-level modelling, validation, and control framework for a 12-DoF biped robot, combining Denavit–Hartenberg kinematics, Euler–Lagrange dynamics, a Discrete Euler–Lagrange reference integrator, Hunt–Crossley contact, and Soft Actor-Critic training in PyBullet.

M. F. Cifuentes-Molano, Kevin David Ortega-Quiñones, Byron Hernandez et al. · Future Internet · 0 citations