Feedback Control For Cassie With Deep Reinforcement Learning
IROS, pp. 1241-1246, 2018.
Bipedal locomotion skills are challenging to develop. Control strategies often use local linearization of the dynamics in conjunction with reduced-order abstractions to yield tractable solutions. In these model-based control strategies, the controller is often not fully aware of many details, including torque limits, joint limits, and oth...More
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