相关论文: Toward Understanding Key Estimation in Learning Ro…

This paper proposes a novel alternative to existing sim-to-real methods for training control policies with simulated experiences. Prior sim-to-real methods for legged robots mostly rely on the domain randomization approach, where a fixed…

Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…

Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…

Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although…

Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringent requirements on agility and…

This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a Reinforcement Learning (RL) based locomotion policy. The framework utilizes an autoencoder to learn a…

Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…

State estimation is a fundamental requirement in robotics, where the accurate determination of a robot's state is essential for stable operation despite inherent process disturbances and sensor noise. Traditionally, this is achieved through…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…

This paper introduces a novel proprioceptive state estimator for legged robots that combines model-based filters and deep neural networks. Recent studies have shown that neural networks such as multi-layer perceptron or recurrent neural…

Location estimation is a fundamental sensing task in robotic applications, where the world is uncertain, and sensors and effectors are noisy. Most systems make various assumptions about the dependencies between state variables, and…

Designing robots capable of traversing uneven terrain and overcoming physical obstacles has been a longstanding challenge in the field of robotics. Walking robots show promise in this regard due to their agility, redundant DOFs and…

This work focuses on sampling strategies of configuration variations for generating robust universal locomotion policies for quadrupedal robots. We investigate the effects of sampling physical robot parameters and joint…