This repository contains a Simscape model of a quadrupeded robot able to walk on flat and inclined terrain, with a environment that presents different obstacles, and the posibility of open-loop or ...

Abstract: Learning from demonstration (LfD) can be used to increase the behavioural repertoire of a robot, but most demonstration-based learning techniques do not enable a robot to acquire knowledge ...

Abstract: Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges when deployed ...