Hierarchical Terrain-Aware Control for Quadrupedal Locomotion by Combining Deep Reinforcement Learning and Optimal Control
Qingfeng Yao,Jilong Wang,Donglin Wang,Shuyu Yang,Hongyin Zhang,Yinuo Wang,Zhengqing Wu,Qingfeng Yao,Jilong Wang,Donglin Wang,Shuyu Yang,Hongyin Zhang,Yinuo Wang,Zhengqing Wu
Quadruped robots possess advantages on different terrains over other types of mobile robots by virtue of their flexible choices of foothold points. It is crucial to integrate terrain perception with motion planning to exploit the potential of quadruped robots. We propose a novel hierarchical terrain-aware control (HTC) framework, which leverages deep reinforcement learning (DRL) for the high-level...
