KLEIYN, a quadruped with an active waist joint, climbs chimneys 800-1000 mm wide at roughly 150 mm/s using a reinforcement learning curriculum that eases the wall-floor transition from curved to vertical.
Learning agile and dynamic motor skills for legged robots,
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KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing
KLEIYN, a quadruped with an active waist joint, climbs chimneys 800-1000 mm wide at roughly 150 mm/s using a reinforcement learning curriculum that eases the wall-floor transition from curved to vertical.