Our PhD student Minsung Yoon presented his work titled “Learning-based Adaptive Control of Quadruped Robots for Active Stabilization on Moving Platforms” at IROS2024. This research introduces Learning-based Active Stabilization on Moving Platforms (LAS-MP), a novel system that enables quadruped robots to balance effectively on six-DOF moving platforms by leveraging adaptive posture adjustment policies and state estimators trained on proprioceptive sensor data. The framework systematically addresses challenges caused by platform-induced inertia forces and showcases superior performance over baselines through trajectory generation, ablation studies, and detailed evaluations of its components.
