27. 参考文献
• Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios
Tsounis, Vladlen Koltun, and Marco Hutter. Learning Agile and Dynamic
Motor Skills for Legged Robots. Science Robotics, 4(26):eaau5872, 2019.
• J. Hwangbo, J. Lee, M. Hutter, Per-contact iteration method for solving
contact dynamics. IEEE Robot. Autom. Lett. 3, 895–902 (2018).
• C. D. Bellicoso, F. Jenelten, C. Gehring, M. Hutter, Dynamic locomotion
through online nonlinear motion optimization for quadrupedal robots. IEEE
Robot. Autom. Lett. 3, 2261–2268 (2018).
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本手法
veliocity error: 0.143m/s
yaw rate error: 0.174 rad
先行研究
velocity: 0.231 m/s
yaw rate: 0.278 rad / s
Modules in their controllers are not aware of the constraints in the later stages; consequently, their outputs may not be realizable on the physical system.