DreamFLEX uses an explicit fault-estimation network to detect broken leg joints and modulate a learned locomotion policy, letting a quadruped traverse rough terrain with fewer working legs.
ANYmal - A highly mobile and dynamic quadrupedal robot,
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DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains
DreamFLEX uses an explicit fault-estimation network to detect broken leg joints and modulate a learned locomotion policy, letting a quadruped traverse rough terrain with fewer working legs.