Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads
Jeremy Dao,Kevin Green,Helei Duan,Alan Fern,Jonathan Hurst,Jeremy Dao,Kevin Green,Helei Duan,Alan Fern,Jonathan Hurst
Recent work on sim-to-real learning for bipedal locomotion has demonstrated new levels of robustness and agility over a variety of terrains. However, that work, and most prior bipedal locomotion work, have not considered locomotion under a variety of external loads that can significantly influence the overall system dynamics. In many applications, robots will need to maintain robust locomotion und...
