Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
Siddhant Gangapurwala,Luigi Campanaro,Ioannis Havoutis,Siddhant Gangapurwala,Luigi Campanaro,Ioannis Havoutis
Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency. We challenge this intuitive notion by demonstrating robust and dynamic locomotion with a learned motion controller executing at as low as 8 Hz on a real ANYmal C quadruped. The robot is able to robustly and repeatably achieve a high heading velocity of 1.5 ms-1, trav...
