Force control for Robust Quadruped Locomotion: A Linear Policy Approach
Aditya Shirwatkar,Vamshi Kumar Kurva,Devaraju Vinoda,Aman Singh,Aditya Sagi,Himanshu Lodha,Bhavya Giri Goswami,Shivam Sood,Ketan Nehete,Shishir Kolathaya,Aditya Shirwatkar,Vamshi Kumar Kurva,Devaraju Vinoda,Aman Singh,Aditya Sagi,Himanshu Lodha,Bhavya Giri Goswami,Shivam Sood,Ketan Nehete,Shishir Kolathaya
This work presents a simple linear policy for direct force control for quadrupedal robot locomotion. The motivation is that force control is essential for highly dynamic and agile motions. We learn a linear policy to generate end-foot trajectory parameters and a centroidal wrench, which is then distributed among the legs based on the foot contact information using a quadratic program (QP) to get t...
