Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning
Xiaoyu Huang,Zhongyu Li,Yanzhen Xiang,Yiming Ni,Yufeng Chi,Yunhao Li,Lizhi Yang,Xue Bin Peng,Koushil Sreenath,Xiaoyu Huang,Zhongyu Li,Yanzhen Xiang,Yiming Ni,Yufeng Chi,Yunhao Li,Lizhi Yang,Xue Bin Peng,Koushil Sreenath
We present a reinforcement learning (RL) framework that enables quadrupedal robots to perform soccer goalkeeping tasks in the real world. Soccer goalkeeping with quadrupeds is a challenging problem, that combines highly dynamic locomotion with precise and fast non-prehensile object (ball) manipulation. The robot needs to react to and intercept a potentially flying ball using dynamic locomotion man...
