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cs.RO2023
Learning Whole-body Manipulation for Quadrupedal Robot
Seunghun Jeon, Moonkyu Jung, Suyoung Choi +2
We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy…
cs.RO2023★ 1 cited
Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
Yunho Kim, Hyunsik Oh, Jeonghyun Lee +5
Several earlier studies have shown impressive control performance in complex robotic systems by designing the controller using a neural network and training it with model-free rein…