Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning

Sunwoo Kim, Maks Sorokin, Jehee Lee, Sehoon Ha

Proceedings of Robotics: Science and Systems (RSS) 2022

Abstract

We propose a novel motion control system that allows a human user to operate various motor tasks seamlessly on a quadrupedal robot. Using our system, a user can execute a variety of motor tasks, including standing, sitting, tilting, manipulating, walking, and turning, on simulated and real quadrupeds.