Research Analyzer
← ICRA 2023

All Papers

1655 papers in this venue.

Clear
1635 result(s) for “Humanoid and Bipedal Locomotion” Page 1 of 33
Title & Authors Actions
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization
Maegan Tucker, Noel Csomay-Shanklin, Aaron Ames
 PDF
Optimizing Bipedal Locomotion for the 100m Dash with Comparison to Human Running
Devin Crowley, Jeremy Dao, Helei Duan, Kevin Green, Jonathan Hurst, Alan Fern
 PDF
Benchmarking Potential Based Rewards for Learning Humanoid Locomotion
Se Hwan Jeon, Steve Heim, Charles Khazoom, Sangbae Kim
 PDF
NeRF2Real: Sim2real Transfer of Vision-Guided Bipedal Motion Skills Using Neural Radiance Fields
Arunkumar Byravan, Jan Humplik, Leonard Hasenclever, Arthur Brussee, Francesco Nori, Tuomas Haarnoja, Ben Moran, Steven Bohez, Fereshteh Sadeghi, Bojan Vujatovic, Nicolas Heess
 PDF
Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression
Chengyang Peng, Octavian Donca, Guillermo Castillo, Ayonga Hereid
 PDF
Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion
Guillermo Colin, Youngwoo Sim, Joao Ramos
 PDF
Multi-Segmented, Adaptive Feet for Versatile Legged Locomotion in Natural Terrain
Abhishek Chatterjee, An Mo, Bernadett Kiss, Emre Cemal Gonen, Alexander Badri-Spröwitz
 PDF
A Sequential MPC Approach to Reactive Planning for Bipedal Robots Using Safe Corridors in Highly Cluttered Environments
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki, Ioannis Poulakakis
 PDF
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
Jiunn-Kai Huang, J.W Grizzle
 PDF
Emulating Human Kinematic Behavior on Lower-Limb Prostheses Via Multi-Contact Models and Force-Based Nonlinear Control
Rachel Gehlhar, Aaron Ames
 PDF
Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance
Tomoya Kamimura, Akihito Sano
 PDF
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
 PDF
Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot
Gabriele Nava, Daniele Pucci
 PDF
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning
Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, joonho lee, Marco Hutter
 PDF
Agile and Versatile Robot Locomotion Via Kernel-Based Residual Learning
Milo Carroll, Zhaocheng Liu, Mohammadreza Kasaei, Zhibin Li
 PDF
Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype Via Terrain Authoring and Active Learning
Chong Zhang, Lizhi Yang
 PDF
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media
Jason Lim, Florian Richter, Dimitri A. Schreiber, Peter Gavrilov, Lizzie Peiros, Mingwei Yeoh, Calvin Joyce, Sara Wickenhiser, Michael C. Yip
 PDF
Soft Fluidic Actuator for Locomotion in Multi-Phase Environments
Roza Gkliva, Maarja Kruusmaa
 PDF
Efficient Learning of Locomotion Skills through the Discovery of Diverse Environmental Trajectory Generator Priors
Shikha Surana, Bryan Wei Tern Lim, Antoine Cully
 PDF
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning
I Made Aswin Nahrendra, Byeongho Yu, Hyun Myung
 PDF
Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion
Lev Grossman, Brian Plancher
 PDF
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
Mingyo Seo, Ryan Gupta, Yifeng Zhu, Alexy Skoutnev, Luis Sentis, Yuke Zhu
 PDF
Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation
Guilherme Henrique Galelli Christmann, Jonathan Hans Soeseno, Ying-Sheng Luo, Wei-Chao Chen
 PDF
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion
Randall Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron Ames, Kaveh Akbari Hamed
 PDF
ViNL: Visual Navigation and Locomotion Over Obstacles
Simar Kareer, Naoki Yokoyama, Dhruv Batra, Sehoon Ha, Joanne Truong
 PDF
Flipper-Style Locomotion through Strong Expanding Modular Robots
Lillian Chin, Max Burns, Gregory Xie, Daniela Rus
 PDF
Learnable Tegotae-Based Feedback in CPGs with Sparse Observation Produces Efficient and Adaptive Locomotion
Christopher Herneth, Mitsuhiro Hayashibe, Dai Owaki
 PDF
Legs As Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
Xuxin Cheng, Ashish Kumar, Deepak Pathak
 PDF
Burst Stimulation for Enhanced Locomotion Control of Terrestrial Cyborg Insects
HUU DUOC NGUYEN, Hirotaka Sato, T. Thang Vo-Doan
 PDF
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
Siddhant Gangapurwala, luigi campanaro, Ioannis Havoutis
 PDF
RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity
Warley Francisco Rocha Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Kazuya Yoshida
 PDF
Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics
Tim-Lukas Habich, Melvin Hueter, Moritz Schappler, Svenja Spindeldreier
 PDF
Efficiently Learning Small Policies for Locomotion and Manipulation
Shashank Hegde, Gaurav Sukhatme
 PDF
Cerberus: Low-Drift Visual-Inertial-Leg Odometry for Agile Locomotion
Shuo Yang, Zixin Zhang, Zhengyu Fu, Zachary Manchester
 PDF
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
Shamel Fahmi, Victor Barasuol, Domingo Esteban, Octavio Antonio Villarreal Magaña, Claudio Semini
 PDF
Nezha-Mini: Design and Locomotion of a Miniature Low-Cost Hybrid Aerial Underwater Vehicle
Bi, Yuanbo,Jin, Yufei,Lyu, Chenxin,Zeng, Zheng,LIAN, Lian
 PDF
CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion
Guillaume Bellegarda, Auke Ijspeert
 PDF
Sim-To-Real Transfer for Quadrupedal Locomotion Via Terrain Transformer
Hang Lai, Weinan Zhang, Xialin He, Chen Yu, ZHENG TIAN, Yong Yu, Jun Wang
 PDF
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs
Wyatt Ubellacker, Aaron Ames
 PDF
A General Locomotion Approach for a Novel Multi-Legged Spherical Robot
Dun Yang, Yunfei Liu, Yang Yu
 PDF
Force Control for Robust Quadruped Locomotion: A Linear Policy Approach
Aditya Shirwatkar, Vamshi Kumar Kurva, Devaraju Vinoda, Aman Singh, Aditya Varma Sagi, Himanshu Lodha, Bhavya Giri Goswami, Shivam Sood, Ketan Nehete, Shishir Kolathaya
 PDF
Learning Setup Policies: Reliable Transition between Locomotion Behaviours
Tidd, Brendan,Leitner, Jurgen,Cosgun, Akansel,Hudson, Nicolas
 PDF
Learning Modular Robot Visual-Motor Locomotion Policies
Julian Whitman, Howie Choset
 PDF
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhedin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler
 PDF
Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
Milad Shafiee, Guillaume Bellegarda, Auke Ijspeert
 PDF
Learning Visual Locomotion with Cross-Modal Supervision
Antonio Loquercio, Ashish Kumar, Jitendra Malik
 PDF
Dynamic Locomotion of a Quadruped Robot with Active Spine Via Model Predictive Control
Wanyue Li, Zida Zhou, Hui Cheng
 PDF
Deep Reinforcement Learning Based Personalized Locomotion Planning for Lower-Limb Exoskeletons
Javad K. Mehr, Edward Guo, Mojtaba Akbari, Vivian K. Mushahwar, Mahdi Tavakoli
 PDF
On the Learned Balance Manifold of Underactuated Balance Robots
Feng Han, Jingang Yi
 PDF
Entrainment During Human Locomotion Using a Lightweight Soft Robotic Hip Exosuit (SR-HExo)
Lily C. Baye-Wallace, Carly Thalman, Hyunglae Lee
 PDF