RLOC: terrain-aware legged locomotion using reinforcement learning and optimal control
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and desired base velocity commands into footstep plans using a re...
| Main Authors: | , , , , |
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| Format: | Journal article |
| Language: | English |
| Published: |
IEEE
2022
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