Synergistic Control for Quadrupedal Locomotion: An RL-Augmented MPC Framework for Dynamic Load Adaptation on Unstructured Terrains
The deployment of quadrupedal robots in realworld scenarios necessitates the ability to perform dynamic locomotion while carrying unknown, shifting payloads over complex, unstructured terrain. This dual challenge remains a significant barrier, as exis
Authors
- M Chandan
- M U Chiranth
Institutions
- Jain University (IN)
- Dr. Hari Singh Gour University (IN)
Publication Details
- Published
- 2025-09-15
- DOI
- https://doi.org/10.36227/techrxiv.175795485.58287085/v1
- Primary Topic
- Advanced Control Systems Optimization
- Type
- article
- Field-Weighted Citation Impact
- 0.00