English

Swift progress for robots over complex terrain

Robotics 2023-08-08 v1 Systems and Control Systems and Control Biological Physics
Authors: Chen Li , Feifei Qian
View on arXiv ↗ PDF ↗ DOI ↗

Abstract

A four-legged robot has learned to run on sand at faster pace than humans jog on solid ground. With low energy use and few failures, this rapid robot shows the value of combining data-driven learning with accurate yet simple models.

Keywords

robot locomotion robotics

Cite

@article{arxiv.2308.02702,
  title  = {Swift progress for robots over complex terrain},
  author = {Chen Li and Feifei Qian},
  journal= {arXiv preprint arXiv:2308.02702},
  year   = {2023}
}

Comments

4 pages, 1 figure

Related papers

View all related →
Robotics · Computer Science
Learning-based legged locomotion; state of the art and future perspectives
Sehoon Ha, Joonho Lee, Michiel van de Panne, Zhaoming Xie +2
2024-11-26
Robotics · Computer Science
Experience-Learning Inspired Two-Step Reward Method for Efficient Legged Locomotion Learning Towards Natural and Robust Gaits
Yinghui Li, Jinze Wu, Xin Liu, Weizhong Guo +1
2024-01-24
Robotics · Computer Science
Learning Robust, Agile, Natural Legged Locomotion Skills in the Wild
Yikai Wang, Zheyuan Jiang, Jianyu Chen
2023-10-09
Biological Physics · Physics
Sensitive dependence of the motion of a legged robot on granular media
Chen Li, Paul B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek +1
2021-05-20
Robotics · Computer Science
Ankle Joints Are Beneficial When Optimizing Supported Real-world Bipedal Robot Gaits
Hilmar Elverhøy, Steinar Bøe, Vegard Søyseth, Tønnes Nygaard
2021-05-25
Biological Physics · Physics
The effect of limb kinematics on the speed of a legged robot on granular media
Chen Li, Paul B. Umbanhowar, Haldun Komsuoglu, Daniel I. Goldman
2019-11-04
Machine Learning · Computer Science
Data Efficient Reinforcement Learning for Legged Robots
Yuxiang Yang, Ken Caluwaerts, Atil Iscen, Tingnan Zhang +2
2019-10-08
Robotics · Computer Science
Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain
Abhishek Chatterjee, An Mo, Bernadett Kiss, Emre Cemal Gönen +1
2023-02-09
Robotics · Computer Science
Learning Agile Locomotion on Risky Terrains
Chong Zhang, Nikita Rudin, David Hoeller, Marco Hutter
2024-08-12
Robotics · Computer Science
Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
Xuxin Cheng, Ashish Kumar, Deepak Pathak
2023-03-23
Robotics · Computer Science
Adaptation of Quadruped Robot Locomotion with Meta-Learning
Arsen Kuzhamuratov, Dmitry Sorokin, Alexander Ulanov, A. I. Lvovsky
2021-07-09
Robotics · Computer Science
Learning Agile Bipedal Motions on a Quadrupedal Robot
Yunfei Li, Jinhan Li, Wei Fu, Yi Wu
2024-03-05
Robotics · Computer Science
Learning-Based Fault Detection for Legged Robots in Remote Dynamic Environments
Abriana Stewart-Height, Seema Jahagirdar, Nikolai Matni
2026-04-07
Robotics · Computer Science
Learning Natural and Robust Hexapod Locomotion over Complex Terrains via Motion Priors based on Deep Reinforcement Learning
Xin Liu, Jinze Wu, Yinghui Li, Chenkun Qi +2
2025-11-06
Robotics · Computer Science
Highly agile flat swimming robot
Florian Hartmann, Mrudhula Baskaran, Gaetan Raynaud, Mehdi Benbedda +2
2024-06-13
Robotics · Computer Science
SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles
Junchi Gu, Feiyang Yuan, Weize Shi, Tianchen Huang +5
2026-02-13
Biological Physics · Physics
Robotic modeling of snake traversing large, smooth obstacles reveals stability benefits of body compliance
Qiyuan Fu, Chen Li
2025-09-18
Robotics · Computer Science
Learning Highly Dynamic Behaviors for Quadrupedal Robots
Chong Zhang, Jiapeng Sheng, Tingguang Li, He Zhang +5
2024-02-22
Robotics · Computer Science
Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Jenna Reher, Aaron D. Ames
2020-10-16
Robotics · Computer Science
Energy-Efficient Quadruped Locomotion with Compliant Feet
Pramod Pal, Shishir Kolathaya, Ashitava Ghosal
2026-05-15
Robotics · Computer Science
Robust Ladder Climbing with a Quadrupedal Robot
Dylan Vogel, Robert Baines, Joseph Church, Julian Lotzer +2
2025-07-23
Robotics · Computer Science
Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards
Matthew Hwang, Yubin Liu, Ryo Hakoda, Takeshi Oishi
2026-04-06
Robotics · Computer Science
A bio-inspired sand-rolling robot: effect of body shape on sand rolling performance
Xingjue Liao, Wenhao Liu, Hao Wu, Feifei Qian
2025-12-23
Robotics · Computer Science
Swing Leg Motion Strategy for Heavy-load Legged Robot Based on Force Sensing
Ze Fu, Yinghui Li, Weizhong Guo
2025-07-31
Robotics · Computer Science
A soft robot that adapts to environments through shape change
Dylan S. Shah, Joshua P. Powers, Liana G. Tilton, Sam Kriegman +2
2023-01-10
R2 v1 2026-06-28T11:48:38.759Z