Athanasios S. Mastrogeorgiou

Slope Handling for Quadruped Robots Using Deep Reinforcement Learning and Toe Trajectory Planning

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 simpli…