DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Avadesh Meduri Majid Khadiv Ludovic Righetti Avadesh Meduri Majid Khadiv Ludovic Righetti
Reactive stepping and push recovery for biped robots is often restricted to flat terrains because of the difficulty in computing capture regions for nonlinear dynamic models. In this paper, we address this limitation by proposing a novel 3D reactive stepper, the DeepQ stepper, that can approximately learn the 3D capture regions of both simplified and full robot dynamic models using reinforcement l...