Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain
Maurice Rahme,Ian Abraham,Matthew L. Elwin,Todd D. Murphey,Maurice Rahme,Ian Abraham,Matthew L. Elwin,Todd D. Murphey
The availability of inexpensive 3D-printed quadrupedal robots motivates the development of learning-based methods compatible with low-cost embedded processors and position-controlled hobby servos. In this work, we show that a linear policy is sufficient to modulate an open-loop trajectory generator, enabling a quadruped to walk over rough, unknown terrain, with limited sensing. The policy is train...
