Yesid Eugenio Santafe Ramon

Reinforcement Learning for Bipedal Locomotion Using Minimal Instrumentation with a Single Inertial Measurement Unit

This work presents a simulation-based validation framework for locomotion control on a custom-built 13 DoF bipedal robot using only signals derivable from a 6-axis inertial measurement unit (3D angular velocity and 3D gravity vector projection) as actor observations. The system employs the Genesis World simulator and t...