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The results shown in this work were obtained from a robotic leg kicking a ball using reinforcement learning (RL), specifically the Q-learning algorithm. The goal of this study was to test the reliability of learning using RL, all this with the aim to apply these concepts in future work, like quadruped walking robots and object manipulation using electromechanical actuators. The training was carried out within a simulation environment in Gazebo with the intention of reproducing in a real way the learning obtained from the simulation, so in the end the agent can perform the kicking of the ball on a real robotic leg, through training simulated.

Movimientos en pierna robótica para el pateado de un balón a través de reinforcement learning