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Recent advances in robot learning from demonstration
In the context of robotics and automation, learning from demonstration (LfD) is the paradigm
in which robots acquire new skills by learning to imitate an expert. The choice of LfD over …
in which robots acquire new skills by learning to imitate an expert. The choice of LfD over …
Learning-based legged locomotion: State of the art and future perspectives
Legged locomotion holds the premise of universal mobility, a critical capability for many real-
world robotic applications. Both model-based and learning-based approaches have …
world robotic applications. Both model-based and learning-based approaches have …
Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains
Quadruped animals are capable of seamless transitions between different gaits. While
energy efficiency appears to be one of the reasons for changing gaits, other determinant …
energy efficiency appears to be one of the reasons for changing gaits, other determinant …
From motor control to team play in simulated humanoid football
Learning to combine control at the level of joint torques with longer-term goal-directed
behavior is a long-standing challenge for physically embodied artificial agents. Intelligent …
behavior is a long-standing challenge for physically embodied artificial agents. Intelligent …
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 …
Whole-body nonlinear model predictive control through contacts for quadrupeds
In this letter, we present a whole-body nonlinear model predictive control approach for rigid
body systems subject to contacts. We use a full-dynamic system model which also includes …
body systems subject to contacts. We use a full-dynamic system model which also includes …
Offline motion libraries and online MPC for advanced mobility skills
We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …
robots with legs and wheels. The generation of complex motions over a long-time horizon …
Chomp: Covariant hamiltonian optimization for motion planning
In this paper, we present CHOMP (covariant Hamiltonian optimization for motion planning),
a method for trajectory optimization invariant to reparametrization. CHOMP uses functional …
a method for trajectory optimization invariant to reparametrization. CHOMP uses functional …
High-speed bounding with the MIT Cheetah 2: Control design and experiments
This paper presents the design and implementation of a bounding controller for the MIT
Cheetah 2 and its experimental results. The paper introduces the architecture of the …
Cheetah 2 and its experimental results. The paper introduces the architecture of the …
Robust rough-terrain locomotion with a quadrupedal robot
Robots working in natural, urban, and industrial settings need to be able to navigate
challenging environments. In this paper, we present a motion planner for the perceptive …
challenging environments. In this paper, we present a motion planner for the perceptive …