相关论文: FootstepNet: an Efficient Actor-Critic Method for …

Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…

In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…

Intelligent robots provide a new insight into efficiency improvement in industrial and service scenarios to replace human labor. However, these scenarios include dense and dynamic obstacles that make motion planning of robots challenging.…

We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both…

Route planning is important in transportation. Existing works focus on finding the shortest path solution or using metrics such as safety and energy consumption to determine the planning. It is noted that most of these studies rely on prior…

This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…

Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficiency with the precision required for stable locomotion. We…

Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…

Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…

Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of…

In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…

This paper introduces a new approach to enhance the robustness of humanoid walking under strong perturbations, such as substantial pushes. Effective recovery from external disturbances requires bipedal robots to dynamically adjust their…

A variety of autonomous navigation algorithms exist that allow robots to move around in a safe and fast manner. However, many of these algorithms require parameter re-tuning when facing new environments. In this paper, we propose PTDRL, a…

Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world scenarios, they must be able to autonomously and robustly…

The following interdisciplinary article presents a memetic algorithm with applying deep reinforcement learning (DRL) for solving practically oriented dual resource constrained flexible job shop scheduling problems (DRC-FJSSP). From research…

Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate…