Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators - Ma, Yuntao; Farshidian, Farbod; Miki, Takahiro; Lee, Joonho; Hutter, Marco (IEEE robotics and automation letters, 2022)
Keywords: Costs; Deep learning; Dynamics; Generators; Legged locomotion; Legged Robots; Locomotion; Manipulators; Mobile Manipulation; Policies; Predictive control; Reinforcement Learning; Robot arms; Robot dynamics; Robots; Training; Trajectory