Learning to Exploit Elastic Actuators for Quadruped Locomotion

no code implementations • 15 Sep 2022 • Antonin Raffin, Daniel Seidel, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp

Spring-based actuators in legged locomotion provide energy-efficiency and improved performance, but increase the difficulty of controller design.