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Mechanism, actuation, perception, and control of highly dynamic multilegged robots: A review
J He, F Gao - Chinese Journal of Mechanical Engineering, 2020 - Springer
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 …
performing dangerous, dull, or unclean tasks. However, they are still far from being …
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 …
Mit cheetah 3: Design and control of a robust, dynamic quadruped robot
This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its
predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control …
predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control …
Gait and trajectory optimization for legged systems through phase-based end-effector parameterization
We present a single trajectory optimization formulation for legged locomotion that
automatically determines the gait sequence, step timings, footholds, swing-leg motions, and …
automatically determines the gait sequence, step timings, footholds, swing-leg motions, and …
Multi-expert learning of adaptive legged locomotion
Achieving versatile robot locomotion requires motor skills that can adapt to previously
unseen situations. We propose a multi-expert learning architecture (MELA) that learns to …
unseen situations. We propose a multi-expert learning architecture (MELA) that learns to …
Proprioceptive actuator design in the mit cheetah: Impact mitigation and high-bandwidth physical interaction for dynamic legged robots
Designing an actuator system for highly dynamic legged robots has been one of the grand
challenges in robotics research. Conventional actuators for manufacturing applications have …
challenges in robotics research. Conventional actuators for manufacturing applications have …
Learning and adapting agile locomotion skills by transferring experience
Legged robots have enormous potential in their range of capabilities, from navigating
unstructured terrains to high-speed running. However, designing robust controllers for highly …
unstructured terrains to high-speed running. However, designing robust controllers for highly …
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 …
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 …
Dynamic locomotion through online nonlinear motion optimization for quadrupedal robots
This letter presents a realtime motion planning and control method that enables a
quadrupedal robot to execute dynamic gaits including trot, pace, and dynamic lateral walk …
quadrupedal robot to execute dynamic gaits including trot, pace, and dynamic lateral walk …