Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control
Lizhi Yang,Zhongyu Li,Jun Zeng,Koushil Sreenath,Lizhi Yang,Zhongyu Li,Jun Zeng,Koushil Sreenath
In this paper, we propose a multi-domain control parameter learning framework that combines Bayesian Optimization (BO) and Hybrid Zero Dynamics (HZD) for locomotion control of bipedal robots. We leverage BO to learn the control parameters used in the HZD-based controller. The learning process is firstly deployed in simulation to optimize different control parameters for a large repertoire of gaits...
