Template Model Inspired Task Space Learning for Robust Bipedal Locomotion
Guillermo A. Castillo,Bowen Weng,Shunpeng Yang,Wei Zhang,Ayonga Hereid,Guillermo A. Castillo,Bowen Weng,Shunpeng Yang,Wei Zhang,Ayonga Hereid
This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL) controller to track the desired task space trajectories. Different from traditional end-to-end learning approaches, our HL policy takes insights from the angular momentu...
