Benchmarking Model Predictive Control and Reinforcement Learning Based Control for Legged Robot Locomotion

This repository consists of the data and plots used in the submitted paper to Frontiers in Robotics and AI. Furthermore, RL compilation video can be found attached here.

Task and Data Files

Task	Data Files
Standardization	rl data, mpc data
Perturb in positive x axis	rl data, mpc data
Perturb in negative x axis	rl data, mpc data
Perturb in negative y axis	rl data, mpc data
Generalization for slippery terrain	rl data
Generalization for uneven terrain	rl data

Data specification: [time, x, y, z, vx, vy, vz, ctrl1, ctrl2, ctrl3, external force] where,

• x, y and z stands for Center of mass position in x, y and z axis
• vx, vy and vz stands for Center of mass velocity in x, y and z axis
• ctrl1, ctrl2, ctrl3 stands for control in hip abduction, hip flexion and knee flexion