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Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control.

He LiTingnan ZhangWenhao YuPatrick M. Wensing
Published in: CoRR (2022)
Keyphrases
  • model predictive control
  • quadruped robot
  • predictive control
  • control system
  • legged robots
  • rough terrain
  • mobile robot
  • optimal policy
  • real time
  • feature selection
  • mathematical model