Overview
In this project, we studied and implemented locomotion controllers based on Central Pattern Generator (CPG) or Deep Reinforcement Learning. CPG generates periodic locomotion references according to different gaits, and the references will be mapped to physical parameters. The command will be executed by PD controllers in joint space and Cartesian space.
Some of Result Demos
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Quadruped galloping gait in the competiton environment with locomotion controller trained by DRL (PPO).
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Quadruped walking gait in the plain environment trained by DRL (SAC).
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Quadruped back walking in the competition environment trained by DRL (SAC) with joint PD control method.
