Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
Lorznzo Amatucci,Joon-Ha Kim,Jemin Hwangbo,Hae-Won Park,Lorznzo Amatucci,Joon-Ha Kim,Jemin Hwangbo,Hae-Won Park
In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-making process. The redefined contact sequence problem is solved by utilizing a Monte Carlo Tree Search (MCTS) algorithm that exploits optimization-based simulations to evaluate the best search direction. The proposed scheme ...
