The use of simulators in robotics research is widespread, underpinning the majority of recent
advances in the field. There are now more options available to researchers than ever before …

Multilegged robots have the potential to serve as assistants for humans, replacing them in
performing dangerous, dull, or unclean tasks. However, they are still far from being …

Legged locomotion can extend the operational domain of robots to some of the most
challenging environments on Earth. However, conventional controllers for legged …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

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 …

Legged locomotion is a complex control problem that requires both accuracy and
robustness to cope with real-world challenges. Legged systems have traditionally been …

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile
maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A …

Robotic technologies, whether they are remotely operated vehicles, autonomous agents,
assistive devices, or novel control interfaces, offer many promising capabilities for …

Legged robots have enormous potential in their range of capabilities, from navigating
unstructured terrains to high-speed running. However, designing robust controllers for highly …

In this letter, we present a method for integrating central pattern generators (CPGs), ie
systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to …