Simulation to Real World: Learn to Control Legged Robots

Je Min Hwangbo
This thesis addresses both control and design aspects of legged robots. Regarding control, I propose two learning-based control approaches that make a legged robot run faster, more energy-efficiently, and more robustly than ever before. This is possible thanks to an effective modeling technique and a simulation tool, both of which are developed in this thesis. Furthermore, the proposed approaches significantly reduce the laborious process of controller design, which hinders the practicality of prior methods. Only...
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