Wei Gao

Angular Momentum LIP Guided Reinforcement Learning With Step Duration Modulation for Dynamic Locomotion of Bipedal Robots

Reinforcement learning shows strong potential for bipedal locomotion control, while reduced-order models provide compact and interpretable physical priors. This paper presents an Angular Momentum Linear Inverted Pendulum (ALIP) guided reinforcement learning framework for dynamic locomotion of a small point-foot bipedal...