J. Sahoo

Hierarchical Reinforcement Learning for Collision-Free Locomotion of an Underactuated Biped

A bipedal robot cannot deviate from its path to avoid an obstacle without disturbing its balance, and this coupling is most severe on underactuated platforms such as the biped considered here, which has four actuated joints per leg and no hip or ankle roll. This paper presents a Hierarchical Reinforcement Learning (HRL...