Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning
Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice Fallon Ioannis Havoutis Siddhant Gangapurwala Mathieu Geisert Romeo Orsolino Maurice Fallon Ioannis Havoutis
We present a control architecture for real-time adaptation and tracking of trajectories generated using a terrain-aware trajectory optimization solver. This approach enables us to circumvent the computationally exhaustive task of online trajectory optimization, and further introduces a control solution robust to systems modeled with approximated dynamics. We train a policy using deep reinforcement...