Run Like a Dog: Learning Based Whole-Body Control Framework for Quadruped Gait Style Transfer
Fulong Yin,Annan Tang,Liangwei Xu,Yue Cao,Yu Zheng,Zhengyou Zhang,Xiangyu Chen,Fulong Yin,Annan Tang,Liangwei Xu,Yue Cao,Yu Zheng,Zhengyou Zhang,Xiangyu Chen
In this paper, a learning-based whole-body loco-motion controller is proposed, which enables quadruped robots to perform running in the style of real animals. We use a low-level controller based on multi-rigid body dynamics to calculate desired torques for each joint, while the high-level neural network policy planning the expected gait and foothold. The policy is trained with reinforcement learni...
