A learned controller with latent alignment and a learnable gait-frequency action keeps a 68 kg quadruped moving after sudden actuator power loss, in simulation and on hardware.
Centauro: A hybrid locomotion and high power resilient manipulation platform,
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Learning Fault-Tolerant Locomotion with Adaptive Gait Timing
A learned controller with latent alignment and a learnable gait-frequency action keeps a 68 kg quadruped moving after sudden actuator power loss, in simulation and on hardware.