Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot
Guillermo A. Castillo,Bowen Weng,Wei Zhang,Ayonga Hereid,Guillermo A. Castillo,Bowen Weng,Wei Zhang,Ayonga Hereid
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the learning process with intuitive feedback regulations. This design allows the framework to realize robust and stable walking with a reduced-dimensional state and...
