First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
Alexander L. Mitchell,Martin Engelcke,Oiwi Parker Jones,David Surovik,Siddhant Gangapurwala,Oliwier Melon,Ioannis Havoutis,Ingmar Posner,Alexander L. Mitchell,Martin Engelcke,Oiwi Parker Jones,David Surovik,Siddhant Gangapurwala,Oliwier Melon,Ioannis Havoutis,Ingmar Posner
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are often non-differentiable and difficult to implement in an optimisation approach. In this work, these challenges are addressed by framing quadruped control as o...
