相关论文: Playful DoggyBot: Learning Agile and Precise Quadr…

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…

Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead…

Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…

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…

Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…

Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…

Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. In this paper, we propose a…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

Can a quadrupedal robot perform bipedal motions like humans? Although developing human-like behaviors is more often studied on costly bipedal robot platforms, we present a solution over a lightweight quadrupedal robot that unlocks the…

Humanoid soccer dribbling is a highly challenging task that demands dexterous ball manipulation while maintaining dynamic balance. Traditional rule-based methods often struggle to achieve accurate ball control due to their reliance on fixed…

This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

Quadrupedal robots are skillful at locomotion tasks while lacking manipulation skills, not to mention dexterous manipulation abilities. Inspired by the animal behavior and the duality between multi-legged locomotion and multi-fingered…

Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…

Quadrupedal robots are conquering various indoor and outdoor applications due to their ability to navigate challenging uneven terrains. Exteroceptive information greatly enhances this capability since perceiving their surroundings allows…

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…

Animals such as rabbits and birds can instantly generate locomotion behavior in reaction to a dynamic, approaching object, such as a person or a rock, despite having possibly never seen the object before and having limited perception of the…

Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…

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,…

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…