RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control.
Siddhant GangapurwalaMathieu GeisertRomeo OrsolinoMaurice F. FallonIoannis HavoutisPublished in: IEEE Trans. Robotics (2022)
Keyphrases
- optimal control
- rough terrain
- legged locomotion
- reinforcement learning
- legged robots
- control problems
- feedback control
- robot behavior
- dynamic programming
- autonomous navigation
- humanoid robot
- inverted pendulum
- infinite horizon
- actor critic
- optimal control problems
- control strategy
- rl algorithms
- real robot
- model free
- control law
- function approximation
- motion planning
- state space
- machine learning
- function approximators
- visual odometry
- mobile robot
- markov decision processes
- learning algorithm
- action selection
- reinforcement learning methods
- policy gradient