Compliance mechanism for force-adaptive RL policies, an approach to make RL policies compliant to external disturbances instead of resisting them under the contacts with the environment, which works within a single RL policy without additional force sensors or an external controller

Implementation code for: O. Natan and J. Miura, “Seq-DeepIPC: Sequential Sensing for End-to-End Control in Legged Robot Navigation,” IEEE Sensors Journal, vol. 26, no. 6, pp. 9086-9097, Mar. 2026.

3D Printed 12 DOF Quadruped Robot Dog implemented with Inverse Kinematics. Integrated with ROS-2 and DeepFace framework.