Integrates iterative learning control with a torque library to enable high-precision adaptive locomotion on bipedal and quadrupedal robots, reducing tracking errors by up to 85% and achieving over 30x faster control rates.
In: Precup D and Teh YW (eds.) Proceedings of the 34th International Conference on Machine Learning, Proceedings of Machine Learning Research, volume 70
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Iteratively Learning Muscle Memory for Legged Robots to Master Adaptive and High Precision Locomotion
Integrates iterative learning control with a torque library to enable high-precision adaptive locomotion on bipedal and quadrupedal robots, reducing tracking errors by up to 85% and achieving over 30x faster control rates.