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...
| Հիմնական հեղինակներ: | , , , , |
|---|---|
| Ձևաչափ: | Journal article |
| Լեզու: | English |
| Հրապարակվել է: |
IEEE
2022
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