Chong Pi

Continuous multi-skill motion generation for quadruped robots based on imitation–reinforcement learning

This work categorizes quadruped robot skills into three types: rhythmic motions, expressive motions, and high-dynamic motions and generates reference trajectories for each category using central pattern generators, animation design, and motion capture, respectively, and designs an asymmetric neural network architecture and employs an imitation–reinforcement learning algorithm to train policies for generating these three types of motions.