Improved Friction and Dynamics Estimation in Legged Robots
Reducing the Sim-to-Real gap between robot simulation and robot performance could lead to improved and more efficient robot design through more accurate controls and design testing in simulation and through more accurate state detection for model-based control architectures. This work built upon cur...
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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/1721.1/151925 |