2 papers
cs.RO2024
GainAdaptor: Learning Quadrupedal Locomotion with Dual Actors for Adaptable and Energy-Efficient Walking on Various Terrains
Mincheol Kim, Nahyun Kwon, Jung-Yup Kim
Deep reinforcement learning (DRL) has emerged as an innovative solution for controlling legged robots in challenging environments using minimalist architectures. Traditional contro…
cs.RO2024
Learning Quadrupedal Locomotion with Impaired Joints Using Random Joint Masking
Mincheol Kim, Ukcheol Shin, Jung-Yup Kim
Quadrupedal robots have played a crucial role in various environments, from structured environments to complex harsh terrains, thanks to their agile locomotion ability. However, th…