6e4e53ca6f807d8beef693a43e7de0d6 TFG_Memoria.pdf 3a18c86c5e469a8866998604578b05ee8e9626ba TFG_Memoria.pdf 2868caa3e90842b8d13e00762c4bc540ed34dcdc7adcbb4a9db746a642bd1a0e TFG_Memoria.pdf Title: Subject: Keywords: Author: Creator: LaTeX with hyperref Producer: pdfTeX-1.40.26 CreationDate: Mon Jun 30 15:57:35 2025 CEST ModDate: Mon Jun 30 15:57:35 2025 CEST Custom Metadata: yes Metadata Stream: no Tagged: no UserProperties: no Suspects: no Form: none JavaScript: no Pages: 14 Encrypted: no Page size: 595.276 x 841.89 pts (A4) Page rot: 0 File size: 7625873 bytes Optimized: yes PDF version: 1.5 name type encoding emb sub uni object ID ------------------------------------ ----------------- ---------------- --- --- --- --------- MHBPVB+NimbusSanL-Bold Type 1 Custom yes yes yes 359 0 DVOELX+XCharter-Roman Type 1 Custom yes yes yes 360 0 IKALGO+XCharter-Italic Type 1 Custom yes yes yes 207 0 KOHBGA+XCharter-Bold Type 1 Custom yes yes yes 208 0 DVOELX+XCharter-Roman Type 1 Custom yes yes yes 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Linearized PDF PDFMetadata: Objects: 0 FreeObjects: 1 IncrementalUpdates: 0 DocumentCatalog: PageLayout: SinglePage PageMode: UseOutlines Outlines: Item: Title: Introduction Children: Item: Title: Challenge and Background Item: Title: Objective Item: Title: Theoretical Background Children: Item: Title: Control Techniques Children: Item: Title: Zero Moment Point Item: Title: Model Predictive Control Item: Title: Whole-Body Control Item: Title: Hybrid Zero Dynamics Item: Title: Reinforcement Learning for Biped Walking Children: Item: Title: Soft Actor–Critic Item: Title: Proximal Policy Optimization Item: Title: Technological Framework Children: Item: Title: Talos Robot Children: Item: Title: Robot Description and Control Item: Title: Kangaroo Robot Children: Item: Title: Robot Description and Control Item: Title: Unified Robot Description Format Children: Item: Title: URDF Descriptions Item: Title: Brax Children: Item: Title: MuJoCo XLA Item: Title: JAX Item: Title: Proposed Methodology Children: Item: Title: Evaluation of Control Signals Children: Item: Title: Direct Position Item: Title: Torque Control Item: Title: Proportional-Integral-Derivative Control Item: Title: Collisions Children: Item: Title: Capsules Item: Title: Reward Validation Children: Item: Title: Regularization Reward Item: Title: Energy Reward Item: Title: Tracking Reward Item: Title: Reward Function Item: Title: Sim2Real Children: Item: Title: Challenges in Sim2Real transfer Item: Title: Training Item: Title: Inference Node Item: Title: Gazebo Item: Title: RViz Item: Title: Signal Filters Item: Title: Discussion of results Children: Item: Title: Network Architecture Item: Title: Talos Item: Title: Kangaroo Item: Title: Conclusions Children: Item: Title: Comparison to Initial Objectives Item: Title: Limitations and future research Children: Item: Title: Training Talos limitations Children: Item: Title: Exploding Gradient Item: Title: Training Challenges with PID and Torque Control on Talos Item: Title: Simulation vs. Reality Item: Title: Safety Concerns Item: Title: Kangaroo Limitations Item: Title: Acknowledgements Item: Title: Bibliography Filters: FilterPipeline: FlateDecode FilterPipeline: DCTDecode Images: Image: NisoImageMetadata: FormatName: image/png ImageWidth: 1560 ImageHeight: 1740 ColorSpace: RGB BitsPerSample: 8 BitsPerSampleUnit: integer Filter: FlateDecode Image: NisoImageMetadata: FormatName: image/png ImageWidth: 1478 ImageHeight: 936 ColorSpace: RGB BitsPerSample: 8 BitsPerSampleUnit: integer Filter: FlateDecode Image: NisoImageMetadata: FormatName: image/png ImageWidth: 978 ImageHeight: 944 ColorSpace: RGB BitsPerSample: 8 BitsPerSampleUnit: integer Filter: FlateDecode Image: NisoImageMetadata: FormatName: image/png ImageWidth: 1186 ImageHeight: 699 ColorSpace: RGB BitsPerSample: 8 BitsPerSampleUnit: integer Filter: FlateDecode Image: NisoImageMetadata: FormatName: image/jpg CompressionScheme: JPEG ImageWidth: 1179 ImageHeight: 1206 ColorSpace: RGB 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