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April 11, 2026MachinesOpen Access

Reinforcement Learning-Based Landing Impact Mitigation and Stabilization Control for Lunar Quadruped Robots Under Complex Operating Conditions

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Authors

JLJianfei LiYYYeqing YuanZLZhiyong (John) Liu

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Overview

Simulation verifies a reinforcement learning controller enhances landing stability in lunar quadruped robots, suggesting improved performance under challenging conditions.

Key Points

  • The aim is to develop an effective landing control system for lunar quadruped robots to address various operational challenges.
  • Developed a reinforcement learning-based landing controller.
  • Introduced a phase-structured formulation for impact management and stabilization.
  • Utilized a terrain-agnostic control representation for varying conditions.
  • Established a hybrid control model incorporating variable mass and impact constraints.
  • Conducted simulations and experimental validations under diverse landing conditions.
  • Achieved robust landing buffering and stability control across various masses and slopes.
  • Demonstrated less than 30% deviation between simulation and experimental results.
  • Showed favorable robustness against parameter variations during testing.

Cite This Study

Li et al. (2026) studied this question.

synapsesocial.com/papers/69d9e4d578050d08c1b75358https://doi.org/10.3390/machines14040417
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