Research on multi-terrain locomotion control of quadruped robots based on an improved PPO algorithm
Transactions of the Institute of Measurement and Control
Published online on September 24, 2025
Abstract
Transactions of the Institute of Measurement and Control, Volume 48, Issue 12, Page 3327-3340, August 2026.
To address the challenges of poor body stability and limited generalization in quadruped locomotion over unstructured terrains, this paper proposes a locomotion control method based on an improved Long Short-Term Memory–Proximal Policy Optimization (LSTM-...
To address the challenges of poor body stability and limited generalization in quadruped locomotion over unstructured terrains, this paper proposes a locomotion control method based on an improved Long Short-Term Memory–Proximal Policy Optimization (LSTM-...