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Benchmarking Model Predictive Control And Reinforcement Learning For Legged Robot Locomotion, Shivayogi Akki
Benchmarking Model Predictive Control And Reinforcement Learning For Legged Robot Locomotion, Shivayogi Akki
Dissertations, Master's Theses and Master's Reports
This research delves into the realm of quadrupedal robotics, focusing on the comparative analysis of Model Predictive Control (MPC) and Reinforcement Learning (RL) as predominant control strategies. Through the comprehensive dataset compiled and the insights derived from this analysis, this research aims to serve as a valuable resource for the legged robotics community, guiding researchers and practitioners in the selection and implementation of control strategies. The ultimate goal is to contribute to the advancement of legged robot capabilities and facilitate their successful deployment in real-world applications.
In this study, we employ the Unitree Go1 quadrupedal robot as a testbed, subjecting …