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Learning Quadrupedal Locomotion for a Heavy Hydraulic Robot Using an Actuator Model
Description
The simulation-to-reality (sim-to-real) transfer of large-scale hydraulic robots presents a significant challenge in robotics because of the inherent slow control response and complex fluid dynamics. The complex dynamics result from the multiple interconnected cylinder structure and the difference in fluid rates of the cylinders. These characteristics complicate detailed simulation for all joints, making it unsuitable for reinforcement learning (RL) applications. In this work, we propose an anal