3 accepted papers
Quadrupedal robots deployed for load-carrying applications must maintain stable locomotion across diverse terrains and varying payloads. Traditional approaches like Model Predictive Control (MPC) can handle such variations but often rely on predefined gait schedules and manually tuned trajectory pla
Quadrupedal robots deployed for load-carrying applications must maintain stable locomotion across diverse ter- rains and varying payloads. Traditional approaches like Model Predictive Control (MPC) can handle such variations but often rely on predefined gait schedules and manually tuned trajectory p…
This work presents a simple linear policy for direct force control for quadrupedal robot locomotion. The motivation is that force control is essential for highly dynamic and agile motions. We learn a linear policy to generate end-foot trajectory parameters and a centroidal wrench, which is then dist…