Conceitos Básicos
Integrating RL and MPC for agile locomotion with adaptive behaviors in legged robots.
Estatísticas
"a peak turn rate of 8.5 rad/s"
"a peak running speed of 3 m/s"
"steering at a speed of 2.5 m/s"
"maintain stable locomotion while bearing an unexpected load of 10 kg"
Citações
"Unlike traditional locomotion controls that separate stance foot control and swing foot trajectory, our innovative approach unifies them."
"Our central objective is to bolster agility, robustness, and adaptive behavior in blind locomotion through the integration of stance foot control and swing foot reflection using RL."
"Our proposed framework has the following contributions: We introduce a novel RL-augmented MPC framework designed for adaptive blind quadruped locomotion."