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Enabling bipedal walking robots to learn how to maneuver over highly uneven, dynamically changing terrains is challenging due to the complexity of robot dynamics and interacted environments. Recent advancements in learning from…
Controlling a non-statically bipedal robot is challenging due to the complex dynamics and multi-criterion optimization involved. Recent works have demonstrated the effectiveness of deep reinforcement learning (DRL) for simulation and…
In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected inverse dynamic control for robust motion tracking. In our…
Robots can now learn how to make decisions and control themselves, generalizing learned behaviors to unseen scenarios. In particular, AI powered robots show promise in rough environments like the lunar surface, due to the environmental…
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
Knowledge from animals and humans inspires robotic innovations. Numerous efforts have been made to achieve agile locomotion in quadrupedal robots through classical controllers or reinforcement learning approaches. These methods usually rely…
Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…
This work presents a meta-reinforcement learning approach to develop a universal locomotion control policy capable of zero-shot generalization across diverse quadrupedal platforms. The proposed method trains an RL agent equipped with a…
The problem of dynamic locomotion over rough terrain requires both accurate foot placement together with an emphasis on dynamic stability. Existing approaches to this problem prioritize immediate safe foot placement over longer term dynamic…
Developing robust locomotion controllers for bipedal robots with closed kinematic chains presents unique challenges, particularly since most reinforcement learning (RL) approaches simplify these parallel mechanisms into serial models during…
Curriculum learning has demonstrated substantial effectiveness in robot learning. However, it still faces limitations when scaling to complex, wide-ranging task spaces. Such task spaces often lack a well-defined difficulty structure, making…
Quadrupedal animals can perform agile and playful tasks while interacting with real-world objects. For instance, a trained dog can track and catch a flying frisbee before it touches the ground, while a cat left alone at home may leap to…
We present a model-based framework for robot locomotion that achieves walking based on only 4.5 minutes (45,000 control steps) of data collected on a quadruped robot. To accurately model the robot's dynamics over a long horizon, we…
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit geometric abstractions, either by mediating control through…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…
Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…
Various pipes are extensively used in both industrial settings and daily life, but the pipe inspection especially those with narrow sizes are still very challenging with tremendous time and manufacturing consumed. Quadrupedal robots,…