A Composite Control Strategy for Quadruped Robot by Integrating Reinforcement Learning and Model-Based Control
Shangke Lyu,Han Zhao,Donglin Wang,Shangke Lyu,Han Zhao,Donglin Wang
Locomotion in the wild requires the quadruped robot to have strong capabilities in adaptation and robustness. The deep reinforcement learning (DRL) exhibits the huge potential in environmental adaptability, while its stability issues remain open. On the other hand, the quadruped robot dynamic model contains a lot of useful information that is beneficial to the robust control. The combination of DR...
