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DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain

28 October 2020


We propose a novel 3D reactive stepper, The DeepQ stepper, that computes optimal step locations for walking at different velocities using the 3D capture regions approximated by the action-value function. The DeepQ stepper can handle non convex terrain with obstacles, walk on restricted surfaces like stepping stones and recover from external disturbances for a constant computational cost.