October 13, 2025Open Access

Ground contact and reaction force sensing for linear policy control of quadruped robot

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Authors

HMHarshita Mhaske AMAniket MandhareCalifornia State University, Fullerton JHJidong HuangGeorgia State University

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Implication

Experimental analysis shows that augmenting policies with ground contact and reaction force data enhances performance in quadrupeds, indicating improved stability and adaptability.

Key Points

Augmenting observation space with ground contact and reaction force data improves policy performance.
Experimental results indicate better survivability, stability against disturbances, and adaptability in untrained conditions.
Reinforcement learning with linear policies offers a computationally efficient solution for controlling walking robots.
Ground contact and reaction forces are critical for effective robot-environment interaction and policy training.

Cite This Study

Mhaske et al. (2025) studied this question.

synapsesocial.com/papers/68ece2abd1bb2827d1297191 https://doi.org/10.48550/arxiv.2503.01102

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Implication

Experimental analysis shows that augmenting policies with ground contact and reaction force data enhances performance in quadrupeds, indicating improved stability and adaptability.

Ground contact and reaction force sensing for linear policy control of quadruped robot

Discussion

Member takes

Implication

Key Points

Cite This Study

Ground contact and reaction force sensing for linear policy control of quadruped robot

Discussion

Member takes

Implication

Key Points

Cite This Study

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