Search Results for author:
Found 3 papers, 1 papers with code
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
In this work, we advocate for integrating constraints into robot learning and present Constraints as Terminations (CaT), a novel constrained RL algorithm.
Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning
We detail the learning procedure and method for transfer on the real robot.
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation.
Robotics
Cannot find the paper you are looking for? You can
Submit a new open access paper.
