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A reinforcment learning algorithm is used to learn the key parameter of the swing leg control task so that speed control can be achieved. The control algorithm is applied to two simulated bipedal robots. The simulation analyses demonstrate that the local speed control mechanism based on the stance ankle is effective in reducing the learning time. The algorithm is also demonstrated to be general in that it is applicable across bipedal robots that have different length and mass parameters.<\/jats:p>","DOI":"10.1017\/s0263574702004290","type":"journal-article","created":{"date-parts":[[2002,9,20]],"date-time":"2002-09-20T12:53:08Z","timestamp":1032526388000},"page":"477-491","source":"Crossref","is-referenced-by-count":43,"title":["Dynamic bipedal walking assisted by learning"],"prefix":"10.1017","volume":"20","author":[{"given":"Chee-Meng","family":"Chew","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gill A.","family":"Pratt","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2002,9,6]]},"reference":[{"key":"S0263574702004290_ref022","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067309"},{"key":"S0263574702004290_ref018","doi-asserted-by":"crossref","unstructured":"Miller Thomas W. , \u201cReal time neural network control of a biped walking robot\u201d, IEEE Control Systems Magazine 41\u201348 (Feb., 1994).","DOI":"10.1109\/37.257893"},{"key":"S0263574702004290_ref020","first-page":"399","volume":"1","author":"Pratt","year":"1995","journal-title":"IEEE International Conference on Intelligent Robots and Systems"},{"key":"S0263574702004290_ref024","first-page":"279","volume":"8","author":"C. 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