公开(公告)号：US20250018560A1

公开(公告)日：2025-01-16

申请号：US18610285

申请日：2024-03-20

Applicant: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Hyun MYUNG ,  I Made Aswin NAHRENDRA ,  Byeongho YU

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/032

Abstract: Disclosed is technology for controlling deep reinforcement learning-based legged robot locomotion by inferring implicit terrain information. A legged robot control method may include inferring an action of a quadrupedal robot from proprioception through a deep reinforcement learning-legged robot model, and a locomotion policy that implicitly infers properties of terrains through which the quadrupedal robot moves may be learned in the legged robot model.