Anymal parkour: Learning agile navigation for quadrupedal robots
Performing agile navigation with four-legged robots is a challenging task because of the
highly dynamic motions, contacts with various parts of the robot, and the limited field of view …
highly dynamic motions, contacts with various parts of the robot, and the limited field of view …
Perceptive locomotion through nonlinear model-predictive control
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …
and planning of the underactuated dynamics of the system. Reliably optimizing for such …
Versatile multicontact planning and control for legged loco-manipulation
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday
environments. These skills can be assessed on the basis of a system's ability to coordinate …
environments. These skills can be assessed on the basis of a system's ability to coordinate …
Optimization-based control for dynamic legged robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …
Making sense of vision and touch: Self-supervised learning of multimodal representations for contact-rich tasks
Contact-rich manipulation tasks in unstructured environments often require both haptic and
visual feedback. However, it is non-trivial to manually design a robot controller that …
visual feedback. However, it is non-trivial to manually design a robot controller that …
Recent progress in legged robots locomotion control
J Carpentier, PB Wieber - Current Robotics Reports, 2021 - Springer
Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …
mostly flat ground in controlled settings to generic indoor and outdoor environments …
Deepgait: Planning and control of quadrupedal gaits using deep reinforcement learning
This letter addresses the problem of legged locomotion in non-flat terrain. As legged robots
such as quadrupeds are to be deployed in terrains with geometries which are difficult to …
such as quadrupeds are to be deployed in terrains with geometries which are difficult to …
Making sense of vision and touch: Learning multimodal representations for contact-rich tasks
Contact-rich manipulation tasks in unstructured environments often require both haptic and
visual feedback. It is nontrivial to manually design a robot controller that combines these …
visual feedback. It is nontrivial to manually design a robot controller that combines these …
Waypoint-based imitation learning for robotic manipulation
While imitation learning methods have seen a resurgent interest for robotic manipulation, the
well-known problem of compounding errors continues to afflict behavioral cloning (BC) …
well-known problem of compounding errors continues to afflict behavioral cloning (BC) …
Biconmp: A nonlinear model predictive control framework for whole body motion planning
Online planning of whole-body motions for legged robots is challenging due to the inherent
nonlinearity in the robot dynamics. In this work, we propose a nonlinear model predictive …
nonlinearity in the robot dynamics. In this work, we propose a nonlinear model predictive …