Learning agile locomotion on risky terrains
Quadruped robots have shown remarkable mobility on various terrains through
reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as …
reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as …
Learning arm-assisted fall damage reduction and recovery for legged mobile manipulators
Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In
the case of legged mobile manipulators, the robot arm could adaptively stop the fall and …
the case of legged mobile manipulators, the robot arm could adaptively stop the fall and …
Agile but safe: Learning collision-free high-speed legged locomotion
Legged robots navigating cluttered environments must be jointly agile for efficient task
execution and safe to avoid collisions with obstacles or humans. Existing studies either …
execution and safe to avoid collisions with obstacles or humans. Existing studies either …
Learning complex motor skills for legged robot fall recovery
Falling is inevitable for legged robots in challenging real-world scenarios, where
environments are unstructured and situations are unpredictable, such as uneven terrain in …
environments are unstructured and situations are unpredictable, such as uneven terrain in …
Custom sine waves are enough for imitation learning of bipedal gaits with different styles
Not until recently, robust bipedal locomotion has been achieved through reinforcement
learning. However, existing implementations rely heavily on insights and efforts from human …
learning. However, existing implementations rely heavily on insights and efforts from human …
Generating a terrain-robustness benchmark for legged locomotion: A prototype via terrain authoring and active learning
Terrain-aware locomotion has become an emerging topic in legged robotics. However, it is
hard to generate diverse, challenging, and realistic unstructured terrains in simulation, which …
hard to generate diverse, challenging, and realistic unstructured terrains in simulation, which …
Fall prediction, control, and recovery of quadruped robots
When legged robots perform complex tasks in unstructured environments, falls are
inevitable due to unknown external disturbances. However, current research mainly focuses …
inevitable due to unknown external disturbances. However, current research mainly focuses …
[PDF][PDF] Closing the sim-to-real gap for ultra-low-cost resource-constrained quadruped robot platforms
Automating robust walking gaits for legged robots has been a long-standing challenge.
Previous work has achieved robust locomotion gaits on sophisticated quadruped hardware …
Previous work has achieved robust locomotion gaits on sophisticated quadruped hardware …