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cs.RO2024
Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain
Lei Shi, Xinghua Yu, Cheng Zhou +6
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upp…
cs.RO2024
A Differential Dynamic Programming Framework for Inverse Reinforcement Learning
Kun Cao, Xinhang Xu, Wanxin Jin +2
A differential dynamic programming (DDP)-based framework for inverse reinforcement learning (IRL) is introduced to recover the parameters in the cost function, system dynamics, and…