使用学习动作残差的连续多功能跳跃（英文版）

英文标题：Continuous Versatile Jumping Using Learned Action Residuals中文摘要：提出了一种基于优化控制和强化学习相结合的分层框架，实现了四足机器人连续跳跃运动的控制，通过在模拟环境中的训练，该方法可以直接应用到真实机器人中，实现多方向、连续性跳跃。英文摘要：Jumping is essential for legged robots to traverse through difficultterrains. In this work, we propose a hierarchical framework that combinesoptimal control and reinforcement learning to learn continuous jumping motionsfor quadrupedal robots. The core of our framework is a stance controller, whichcombines a manually designed acceleration co