Jung Su Kim

Enhancing Robustness of Locomotion Policy for Quadrupedal Robot with Deep Disturbance Observer

This letter proposes a control framework to enhance the robustness of a locomotion policy against uncertainties by integrating it with a deep disturbance observer (DOB) network and a deep state estimator network. The deep DOB approximates the inverse model of a quadrupedal robot. The locomotion poli…