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cs.RO2025
Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning
Jørgen Anker Olsen, Lars Rønhaug Pettersen, Kostas Alexis
This paper presents a curriculum-based reinforcement learning framework for training precise and high-performance jumping policies for the robot `Olympus'. Separate policies are de…
cs.RO2025
Olympus: A Jumping Quadruped for Planetary Exploration Utilizing Reinforcement Learning for In-Flight Attitude Control
Jørgen Anker Olsen, Grzegorz Malczyk, Kostas Alexis
Exploring planetary bodies with lower gravity, such as the moon and Mars, allows legged robots to utilize jumping as an efficient form of locomotion thus giving them a valuable adv…