Quadruped Locomotion on Non-Rigid Terrain using Reinforcement Learning.
Taehei KimSung-Hee LeePublished in: CoRR (2021)
Keyphrases
- quadruped robot
- reinforcement learning
- legged robots
- rough terrain
- real robot
- mobile robot
- function approximation
- learning algorithm
- robot behavior
- multi agent
- legged locomotion
- state space
- motion estimation
- autonomous navigation
- optimal control
- surface registration
- optimal policy
- rigid and non rigid
- feature points
- robot control
- markov decision processes
- temporal difference
- long range
- transfer learning
- reinforcement learning algorithms
- reward function
- motion planning
- learning problems