Run Like a Dog: Learning Based Whole-Body Control Framework for Quadruped Gait Style Transfer
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2021）
关键词
quadruped gait style transfer,low-level controller,multirigid body dynamics,torques,high-level neural network policy,reinforcement learning,gait patterns,real-world dogs,running gait style,high-speed gallop,synchronization rate,learning-based whole-body locomotion,learning based whole-body control,quadruped robots,robot trajectories,walking gait style,contact state,foothold distribution
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