Recent work has demonstrated the success of reinforcement learning (RL) for training
bipedal locomotion policies for real robots. This prior work, however, has focused on …

In this letter, we describe an approach to achieve dynamic legged locomotion on physical
robots which combines existing methods for control with reinforcement learning. Specifically …

When legged robots impact their environment, they undergo large changes in their velocities
in a small amount of time. Measuring and applying feedback to these velocities is …

Introducing parallel elasticity in the hardware design endows quadrupedal robots with the
ability to perform explosive and efficient motions. However, for this kind of articulated soft …