Jul 2026
Impact-aware compliant foot placement for quiet humanoid locomotion via reinforcement learning
A control method for reducing foot–ground contact noise during humanoid walking, achieving compliant contact and continuous regulation of locomotion noise by establishing a foot corner contact model along with a virtual compliance parameter is proposed.
Kaifeng Jian, Shao-Jie Zhang, Dong Zhu et al.
· Robot Learning · 0 citations