Learning to Navigate by Pushing
Cornelia Bauer,Dominik Bauer,Alisa Allaire,Christopher G. Atkeson,Nancy Pollard,Cornelia Bauer,Dominik Bauer,Alisa Allaire,Christopher G. Atkeson,Nancy Pollard
In this work, we investigate a form of dynamic contact-rich locomotion in which a robot pushes off from obstacles in order to move through its environment. We present a reflex-based approach that switches between optimized hand-crafted reflex controllers and produces smooth and predictable motions. In contrast to previous work, our approach does not rely on periodic movements, complex models of ro...
