Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes

no code implementations • 4 Apr 2021 • Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya

In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy.

Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning

no code implementations • 3 Oct 2019 • Guillermo A. Castillo, Bowen Weng, Wei zhang, Ayonga Hereid

This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking.

Reinforcement Learning (RL)