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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Hyeonwoo Lee

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Conference Jul 2026

HIP: Hybrid Impedance and PD Control for Adaptive and Compliant Locomotion in Quadruped Robots

Deep reinforcement learning has enabled quadrupedal robots to traverse challenging terrains, yet energy efficiency remains a limiting factor for prolonged autonomous operation. Most existing frameworks rely on fixed or adaptively tuned proportional-derivative (PD) controllers that operate exclusively in the joint space...

Hyeonwoo Lee, Mincheol Kim, Hyun Myung · 0 citations

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