Model Predictive Control of Quadruped Robot Based on Reinforcement Learning

摘要

For the locomotion control of a legged robot, both model predictive control (MPC) and reinforcement learning (RL) demonstrate powerful capabilities. MPC transfers the high-level task to the lower-level joint control based on the understanding of the robot and environment, model-free RL learns how to work through trial and error, and has the ability to evolve based on historical data. In this work, we proposed a novel framework to integrate the advantages of MPC and RL, we learned a policy for automatically choosing parameters for MPC. Unlike the end-to-end RL applications for control, our method does not need massive sampling data for training. Compared with the fixed parameters MPC, the learned MPC exhibits better locomotion performance and stability. The presented framework provides a new choice for improving the performance of traditional control.