Learning free gait transition for quadruped robots via phase-guided controller
Y Shao, Y Jin, X Liu, W He, H Wang… - IEEE Robotics and …, 2021 - ieeexplore.ieee.org
Gaits and transitions are key components in legged locomotion. For legged robots,
describing and reproducing gaits as well as transitions remain longstanding challenges …
describing and reproducing gaits as well as transitions remain longstanding challenges …
Learning bipedal robot locomotion from human movement
M Taylor, S Bashkirov, JF Rico… - … on Robotics and …, 2021 - ieeexplore.ieee.org
Teaching an anthropomorphic robot from human example offers the opportunity to impart
humanlike qualities on its movement. In this work we present a reinforcement learning …
humanlike qualities on its movement. In this work we present a reinforcement learning …
A biologically inspired approach toward robust real-world locomotion in legged robots
F Kirchner, D Spenneberg, R Linnemann - 2002 - direct.mit.edu
Even the most primitive biological systems solve problems that reach far beyond the
capabilities of today's technical systems (Ayers et al., 1994; Fearing et al., 2000; Calvitti and …
capabilities of today's technical systems (Ayers et al., 1994; Fearing et al., 2000; Calvitti and …
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
Legged robots are increasingly entering new domains and applications, including search
and rescue, inspection, and logistics. However, for such a systems to be valuable in real …
and rescue, inspection, and logistics. However, for such a systems to be valuable in real …
Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-
cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed …
cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed …
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC
Y Chen, Q Nguyen - arXiv preprint arXiv:2310.09442, 2023 - arxiv.org
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive
swing foot reflection. While adaptive balancing counteracts perturbations to the robot …
swing foot reflection. While adaptive balancing counteracts perturbations to the robot …
Applied optimal control for dynamically stable legged locomotion
RL Tedrake - 2004 - dspace.mit.edu
Online learning and controller adaptation will be an essential component for legged robots
in the next few years as they begin to leave the laboratory setting and join our world. I …
in the next few years as they begin to leave the laboratory setting and join our world. I …
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
The current state-of-the-art in quadruped locomotion is able to produce robust motion for
terrain traversal but requires the segmentation of a desired robot trajectory into a discrete set …
terrain traversal but requires the segmentation of a desired robot trajectory into a discrete set …
Advanced skills by learning locomotion and local navigation end-to-end
The common approach for local navigation on challenging environments with legged robots
requires path planning, path following and locomotion, which usually requires a locomotion …
requires path planning, path following and locomotion, which usually requires a locomotion …
Template model inspired task space learning for robust bipedal locomotion
This work presents a hierarchical framework for bipedal locomotion that combines a
Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation …
Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation …