Agile and versatile bipedal robot tracking control through reinforcement learning

arXiv:2404.08246v1 Announce Type: cross
Abstract: The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling allows for the execution of both learned and unlearned movements under certain constraints while maintaining balance through minor whole-body coordination. To replicate this balance ability and body agility, this paper proposes a versatile controller for bipedal robots. This controller achieves ankle and body …

abstract agile arxiv balance beings bipedal bipedal robot constraints control cs.lg cs.ro dancing dynamic humans intelligence movements patterns reinforcement reinforcement learning robot through tracking type