Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
Teguh Santoso Lembono,Carlos Mastalli,Pierre Fernbach,Nicolas Mansard,Sylvain Calinon,Teguh Santoso Lembono,Carlos Mastalli,Pierre Fernbach,Nicolas Mansard,Sylvain Calinon
In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consistent whole-body trajectory to be stored as the memory of motion. The learning problem is formulated as a regression problem to predict a single-ste...
