Robust Gait Synthesis Combining Constrained Optimization and Imitation Learning
Jiatao Ding,Xiaohui Xiao,Nikos Tsagarakis,Yanlong Huang,Jiatao Ding,Xiaohui Xiao,Nikos Tsagarakis,Yanlong Huang
Despite plenty of motion planning strategies have been proposed for bipedal locomotion, enhancing the walking robustness in real-world environments is still an open question. This paper focuses on robust body and leg trajectories synthesis through integrating constrained optimization with imitation learning. Specifically, we first propose a Quadratically Constrained Quadratic Programming (QCQP) al...
