SRL combines SLIP feedforward with RL feedback to produce stable bipedal and quadrupedal jumps with lower training cost than pure RL.
Ribak, Insect-inspired jumping robots: challenges and solutions to jump stability, Current Opinion in Insect Science 42 (2020) 32–38
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SRL: Combining SLIP Model and Reinforcement Learning for Agile Robotic Jumping
SRL combines SLIP feedforward with RL feedback to produce stable bipedal and quadrupedal jumps with lower training cost than pure RL.