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Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads
[article]
2022
arXiv
pre-print
Recent work on sim-to-real learning for bipedal locomotion has demonstrated new levels of robustness and agility over a variety of terrains. However, that work, and most prior bipedal locomotion work, have not considered locomotion under a variety of external loads that can significantly influence the overall system dynamics. In many applications, robots will need to maintain robust locomotion under a wide range of potential dynamic loads, such as pulling a cart or carrying a large container of
arXiv:2204.04340v1
fatcat:essqu7wzkzey5mdthhjapzftci