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Why It Matters
A bipedal robot cannot deviate from its path to avoid an obstacle without disturbing its balance, and this coupling is most severe on underactuated platforms such as the biped considered here, which has four actuated joints per leg and no hip or ankle roll.
Provenance
Discovered via ArXiv and published by ArXiv.
Key Claims
Original description
A bipedal robot cannot deviate from its path to avoid an obstacle without disturbing its balance, and this coupling is most severe on underactuated platforms such as the biped considered here, which has four actuated joints per leg and no hip or ankle roll. This paper presents a Hierarchical Reinforcement Learning (HRL) framework in which a High-Level (HL) policy observes the robot pose, 36 raycast proximity measurements, moving-obstacle states, and a receding-horizon local goal, and outputs a body-velocity command $(v_x, v_y, ω_{yaw})$ every ten control steps, while a velocity-conditioned Low...
Discovered via ArXiv
Research papers and preprints from arXiv.
Publisher: arxiv.org
ID: http://arxiv.org/abs/2610.05855v1 · Indexed 42 minutes ago