Learning Legged Locomotion by Physics-based Initialization: Motion Imitation from Model-Based Optimal Control
The development of legged robots capable of navigating in and interacting with the world is quickly advancing as new methods and techniques for sensing, decisionmaking, and controls expand the capabilities of state-of-the-art systems. Model-based methods, empowered by greater computing capacity and...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/147283 |