Learning Robust Terrain-Aware Locomotion
Today’s robotic quadruped systems can walk over a diverse set of natural and complex terrains. Approaches to locomotion based on model-based feedback control are robust to perturbations but cannot easily incorporate visual terrain information. Meanwhile, approaches to locomotion based on learning ex...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/139325 |