Slope Handling for Quadruped Robots Using Deep Reinforcement Learning and Toe Trajectory Planning
Athanasios S. Mastrogeorgiou,Yehia S. Elbahrawy,Andrés Kecskeméthy,Evangelos G. Papadopoulos,Athanasios S. Mastrogeorgiou,Yehia S. Elbahrawy,Andrés Kecskeméthy,Evangelos G. Papadopoulos
Quadrupedal locomotion skills are challenging to develop. In recent years, deep Reinforcement Learning promises to automate the development of locomotion controllers and map sensory observations to low-level actions. Moreover, the full robot dynamics model can be exploited, but no model-based simplifications are to be made. In this work, a method for developing controllers for the Laelaps II robot...
