SENSE-STEP: Learning Sim-to-Real Locomotion for a Sensory-Enabled Soft Quadruped Robot

Description

Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information about ground contact. In this paper, we present a learning-based control framework for a pneumatically actuated soft quadruped equipped with tactile suction-cup feet, and we validate the approach experimentally on physical hardware. The control policy is traine

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