Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning
Donghoon Baek,Amartya Purushottam,Joao Ramos,Donghoon Baek,Amartya Purushottam,Joao Ramos
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion. However, these methods are often limited by the fidelity of the underlying model used, choice of controller, and environmental variables considered (surface type, gr...
