Related papers: Learning Whole-Body Control for a Salamander Robot
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…
Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how…
Humanoid robots are promising to learn a diverse set of human-like locomotion behaviors, including standing up, walking, running, and jumping. However, existing methods predominantly require training independent policies for each skill,…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…
We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
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…
We present a methodology for fast prototyping of morphologies and controllers for robot locomotion. Going beyond simulation-based approaches, we argue that the form and function of a robot, as well as their interplay with real-world…
Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized…
Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal…
Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precise locomotion with dexterous manipulation. However, most…
General-purpose humanoid robots are expected to interact intuitively with humans, enabling seamless integration into daily life. Natural language provides the most accessible medium for this purpose. However, translating language into…
Smart electric wheelchairs can improve user experience by supporting the driver with shared control. State-of-the-art work showed the potential of shared control in improving safety in navigation for non-holonomic robots. However, for…
While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…
We present a universal motion representation that encompasses a comprehensive range of motor skills for physics-based humanoid control. Due to the high dimensionality of humanoids and the inherent difficulties in reinforcement learning,…
Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…