A Hierarchical Scheme for Adapting Learned Quadruped Locomotion

Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Souères
January, 2023
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Snapshots of the proposed low-level policy controlling the Mini-Cheetah through different challenging terrains.
Type
1
Publication
IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)