Achieving omnidirectional walking for bipedal robots is considered one of the most
challenging tasks in robotics technology. Reinforcement learning (RL) methods have proved …

In this paper, a novel reinforcement learning method that enables a humanoid robot to learn
bipedal walking using a simple reference motion is proposed. Reinforcement learning has …

Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring
active perception and various maneuvers to overcome multiple challenging obstacles …

Locomotion control of legged robots is a challenging problem. Recently, reinforcement
learning has been applied to legged locomotion and made a great success. However, the …

When a gait of a bipedal robot is developed using deep reinforcement learning, reference
trajectories may or may not be used. Each approach has its advantages and disadvantages …

Soft snake robots have unique advantages in traversing through cluttered and confined
environments because they are equipped with highly flexible body structures, deformable …

In this section, we use a demo to show that our approach can be easily generalized to more
tasks than the locomotion of a soft snake robot. Specifically, we show that the same …