Learning Efficient and Robust Multi-Modal Quadruped Locomotion: A Hierarchical Approach
Shaohang Xu,Lijun Zhu,Chin Pang Ho,Shaohang Xu,Lijun Zhu,Chin Pang Ho
Four-legged animals are able to change their gaits adaptively for lower energy consumption. However, designing a robust controller for their robot counterparts with multi-modal locomotion remains challenging. In this paper, we present a hierarchical control framework that decomposes this challenge into two kinds of problems: high-level decision-making for gait selection and robust low-level contro...
