2024
DOI: 10.1126/scirobotics.adh5401
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DTC: Deep Tracking Control

Fabian Jenelten,
Junzhe He,
Farbod Farshidian
et al.

Abstract: Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such hierarchical model-based methods are appealing because of intuitive cost function tuning, accurate planning, generalization, and, most importantly, the insightful understanding gained from more than one decade of extensive research. However, model mismatch and violation of assumpt… Show more

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Cited by 12 publications
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References 35 publications
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