Robust and Versatile Bipedal Jumping Control through Reinforcement Learning

Flight PhaseFig. 1: Representative dynamic jumping maneuvers performed by a bipedal robot Cassie using the proposed goal-conditioned control policies.From left to right: (a) the robot jumps over 1.4 m and lands at the given target; (b) the robot jumps to a target that is 0.88 m in front of the robot and 0.44 m above the ground, and (c) the robot jumps in place while turning 55 • with a command to turn 60 • in place.The policies are trained in simulation and deployed on the hardware without further tuning.Video is at: https://youtu.be/aAPSZ2QFB-E.