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cs.RO2021★ 34 cited
Robust Biped Locomotion Using Deep Reinforcement Learning on Top of an Analytical Control Approach
Mohammadreza Kasaei, Miguel Abreu, Nuno Lau +2
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This fram…
cs.RO2021
A CPG-Based Agile and Versatile Locomotion Framework Using Proximal Symmetry Loss
Mohammadreza Kasaei, Miguel Abreu, Nuno Lau +2
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face exte…