A quadruped controller estimates a sliding payload's mass, friction, position, and velocity from proprioception, then uses that estimate to stabilize the load while walking on rough terrain.
Learning to walk in minutes using massively parallel deep reinforcement learning,
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Beyond Robustness: Learning Unknown Dynamic Load Adaptation for Quadruped Locomotion on Rough Terrain
A quadruped controller estimates a sliding payload's mass, friction, position, and velocity from proprioception, then uses that estimate to stabilize the load while walking on rough terrain.