Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning

no code implementations • L4DC 2020 • Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Claire J. Tomlin, S. Shankar Sastry, Koushil Sreenath

The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints.

reinforcement-learning Reinforcement Learning +1