Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
Lokesh Krishna,Utkarsh A. Mishra,Guillermo A. Castillo,Ayonga Hereid,Shishir Kolathaya,Lokesh Krishna,Utkarsh A. Mishra,Guillermo A. Castillo,Ayonga Hereid,Shishir Kolathaya
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. We learn this policy via a model-free and a gradient free learning algorithm, Augmented Random Search (ARS), in the two robot platforms Rabbit and Digit. Our contributions are two-fold: a) By using torso and...
