Lin 9408857 The Adaptive Critic Learning (ACL) technique is one self-learning technique, which has received much attention form researchers in the recent years because of its great potential in solving difficult control/decision-making problems. However when this technique is applied to complex planning problems, there are issues of "chunking" which have not received sufficient attention in the neuroengineering literature. This project will explore the application of ACL on biped walking control, which involves multiple control actions (joints) and is a complicated problem. Two new advanced structures, both based on ACL, will be explored. These structures have either leveled critics or a combination of critic with other adaption capability at different levels. The Hierarchical structures are expected to be more suitable for complicated problems. This study also intends to find out possible roadblocks in advanced ACL applications. In addition to the technical aspect, this study will take a closer look at the relationship between ACL and Human learning process.
