SAC-Loco: Safe and Adjustable Compliant Quadrupedal Locomotion

Description

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit diverse compliance behaviors while ensuring stability when experiencing external forces. In particular, achieving adjustable compliance while maintaining robust safety under force disturbances remains a significant challenge. In this work, we propose a safety awa

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