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In this paper, with a view toward fast deployment of learned locomotion gaits in low-cost hardware, we generate a library of walking trajectories, namely, forward trot, backward trot, side-step, and turn in our custom-built quadruped robot,…

Reinforcement learning (RL) has demonstrated remarkable capability in acquiring robot skills, but learning each new skill still requires substantial data collection for training. The pretrain-and-finetune paradigm offers a promising…

We address a state-of-the-art reinforcement learning (RL) control approach to automatically configure robotic prosthesis impedance parameters to enable end-to-end, continuous locomotion intended for transfemoral amputee subjects.…

This paper presents a real-time gait driven training framework for humanoid robots. First, we introduce a novel gait planner that incorporates dynamics to design the desired joint trajectory. In the gait design process, the 3D robot model…

This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the…

To maintain structural integrity and functionality during the designed life cycle of a structure, engineers are expected to accommodate for natural hazards as well as operational load levels. Active control systems are an efficient solution…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

As home robotics gains traction, robots are increasingly integrated into households, offering companionship and assistance. Quadruped robots, particularly those resembling dogs, have emerged as popular alternatives for traditional pets.…

Knee-less bipedal robots like SLIDER have the advantage of ultra-lightweight legs and improved walking energy efficiency compared to traditional humanoid robots. In this paper, we firstly introduce an improved hardware design of the SLIDER…

Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…

Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine their effectiveness. In this work, we are interested in…

Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…

A data-efficient learning-based control design method is proposed in this paper. It is based on learning a system dynamics model that is then leveraged in a two-level procedure. On the higher level, a simple but powerful optimization…

Deep reinforcement learning is a promising approach to learning policies in uncontrolled environments that do not require domain knowledge. Unfortunately, due to sample inefficiency, deep RL applications have primarily focused on simulated…

We consider the problem of fitting a reinforcement learning (RL) model to some given behavioral data under a multi-armed bandit environment. These models have received much attention in recent years for characterizing human and animal…

Robotic exoskeletons are exciting technologies for augmenting human mobility. However, designing such a device for seamless integration with the human user and to assist human movement still is a major challenge. This paper aims at…

We draw on the latest advancements in the physics community to propose a novel method for discovering the governing non-linear dynamics of physical systems in reinforcement learning (RL). We establish that this method is capable of…

We present a hierarchical framework that combines model-based control and reinforcement learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago). The system consists of a high-level controller that learns to…

Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…

This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external perturbations. The framework embeds a kernel which is a fully…