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cs.RO2023
Reinforcement Learning for Reduced-order Models of Legged Robots
Yu-Ming Chen, Hien Bui, Michael Posa
Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and safety guarantees while being effective in accom…
cs.RO2023★ 1 cited
Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion
Yu-Ming Chen, Jianshu Hu, Michael Posa
Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while…