Feedback Control For Cassie With Deep Reinforcement Learning

Zhaoming Xie
Zhaoming Xie
Patrick Clary
Patrick Clary

IROS, pp. 1241-1246, 2018.

Cited by: 45|Views32
EI

Abstract:

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

Code:

Data:

Get fulltext within 24h
Bibtex
Your rating :
0

 

Tags
Comments