Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion.
Siddhant GangapurwalaAlexander L. MitchellIoannis HavoutisPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- legged robots
- mobile robot
- robotic systems
- robot control
- robot navigation
- optimization algorithm
- optimization problems
- dynamic optimization
- rough terrain
- autonomous robots
- concave convex procedure
- path planning
- neural network
- vision system
- objective function
- robot moves
- real time
- central pattern generator
- lagrange multipliers
- mobile robotics
- human robot interaction
- motion planning
- humanoid robot
- multi robot
- dynamic environments
- linear programming