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cs.RO2023
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC
Yiyu Chen, Quan Nguyen
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot,…
cs.RO2023★ 1 cited
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior
Ruihan Yang, Zhuoqun Chen, Jianhan Ma +4
The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this s…