相关论文: Robust Recovery Controller for a Quadrupedal Robot…

The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…

Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless, their floating base structure renders them susceptible to…

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires…

Legged robots have shown promise in locomotion complex environments, but recovery from falls on challenging terrains remains a significant hurdle. This paper presents an Adaptive Fall Recovery (AFR) controller for quadrupedal robots on…

We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single locomotion skill, we develop a general control solution that…

In recent years, reinforcement learning (RL) based quadrupedal locomotion control has emerged as an extensively researched field, driven by the potential advantages of autonomous learning and adaptation compared to traditional control…

In this work we present Deep Reinforcement Learning (DRL) training of directional locomotion for low-cost quadrupedal robots in the real world. In particular, we exploit randomization of heading that the robot must follow to foster…

Bipedal walking is one of the most difficult but exciting challenges in robotics. The difficulties arise from the complexity of high-dimensional dynamics, sensing and actuation limitations combined with real-time and computational…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

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…

Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and…

Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…

Deep reinforcement learning (DRL) has emerged as a promising solution to mastering explosive and versatile quadrupedal jumping skills. However, current DRL-based frameworks usually rely on pre-existing reference trajectories obtained by…

Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…

Bipedal locomotion skills are challenging to develop. Control strategies often use local linearization of the dynamics in conjunction with reduced-order abstractions to yield tractable solutions. In these model-based control strategies, the…

For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…

Fall recovery for legged robots remains challenging, particularly on complex terrains where traditional controllers fail due to incomplete terrain perception and uncertain interactions. We present \textbf{FR-Net}, a learning-based framework…