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743 result(s) for “Legged Robots” Page 1 of 15
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Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots
Simon Chamorro, Victor Klemm, Miguel de la Iglesia Valls, CHRIS PAL, Roland Siegwart
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Autonomous Navigation with Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees
Alessio De Luca, Luca Muratore, Nikos Tsagarakis
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Proprioceptive-Based Whole-Body Disturbance Rejection Control for Dynamic Motions in Legged Robots
Zhengguo Zhu, Guoteng Zhang, Zhongkai Sun, Teng Chen, Xuewen Rong, Anhuan Xie, Yibin Li
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DiPPeR: Diffusion-Based 2D Path Planner Applied on Legged Robots
Jianwei Liu, Maria Stamatopoulou, Dimitrios Kanoulas
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Deep Compliant Control for Legged Robots
Adrian Hartmann, Dongho Kang, Fatemeh Zargarbashi, Miguel Angel Zamora Mora, Stelian Coros
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Trajectory Optimization Strategy That Considers Body Tip-Over Stability, Limb Dynamics, and Motion Continuity in Legged Robots
Kuan-Lun Lu, I-Chia Chang, Wei-Shun Yu, Pei-Chun Lin
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OptiState: State Estimation of Legged Robots Using Gated Networks with Transformer-Based Vision and Kalman Filtering
Alexander Schperberg, Yusuke Tanaka, Saviz Mowlavi, Feng Xu, Bharathan Balaji, Dennis Hong
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Safety-Critical Coordination of Legged Robots Via Layered Controllers and Forward Reachable Set Based Control Barrier Functions
Jeeseop Kim, Jaemin Lee, Aaron Ames
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Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
James Zhu, J. Joe Payne, Aaron M. Johnson
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Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid
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Extreme Parkour with Legged Robots
Xuxin Cheng, Kexin Shi, Ananye Agarwal, Deepak Pathak
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Reinforcement Learning for Reduced-Order Models of Legged Robots
Yu-Ming Chen, Hien Bui, Michael Posa
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Accounting for Travel Time and Arrival Time Coordination During Task Allocations in Legged-Robot Teams
Shengqiang Chen, Yiyu Chen, Ronak Jain, Xiaopan Zhang, Quan Nguyen, Satyandra K. Gupta
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SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos
John Zhang, Shuo Yang, Gengshan Yang, Arun Bishop, Swaminathan Gurumurthy, Deva Ramanan, Zachary Manchester
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Dynamic Interaction Control in Legged Mobile Manipulators: A Decoupled Approach
Qikai Li, Qinchen Meng, Yuxing Qin, Jiawei Chen, Xilun Ding, Kun Xu
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LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems
Edo Jelavic, Kaixian Qu, Farbod Farshidian, Marco Hutter
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Design and Central Pattern Generator Control of a New Transformable Wheel-Legged Robot
Tyler Bishop, Keran Ye, Konstantinos Karydis
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RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion
Dongho Kang, Jin Cheng, Miguel Angel Zamora Mora, Fatemeh Zargarbashi, Stelian Coros
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Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-To-End
Chong Zhang, Jin Jin, Jonas Frey, Nikita Rudin, Matias Mattamala, Cesar Cadena Lerma, Marco Hutter
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Seabed Intervention with an Underwater Legged Robot
Giacomo Picardi, Anna Astolfi, Marcello Calisti
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Marine Sediment Sampling with an Underwater Legged Robot
Anna Astolfi, Mrudul Chellapurath, Giacomo Picardi, Martina Capriotti, Kayla Mladinich, Cecilia Laschi, Sergio Stefanni, Marcello Calisti
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Dexterous Legged Locomotion in Confined 3D Spaces with Reinforcement Learning
Zifan Xu, Amir Hossain Raj, Xuesu Xiao, Peter Stone
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Pedipulate: Enabling Manipulation Skills Using a Quadruped Robot's Leg
Philip Arm, Mayank Mittal, Hendrik Kolvenbach, Marco Hutter
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Learning Force Control for Legged Manipulation
Tifanny Portela, Gabriel Margolis, Yandong Ji, Pulkit Agrawal
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Robust Quadrupedal Locomotion Via Risk-Averse Policy Learning
Jiyuan Shi, Chenjia Bai, Haoran He, Lei Han, Dong Wang, Bin Zhao, Mingguo Zhao, Xiu Li, Xuelong Li
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Fast Wheeled Driving to Legged Leaping Onto a Step in a Leg-Wheel Transformable Robot
Zhi-Ren Chen, Wei-Shun Yu, Pei-Chun Lin
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Manipulator As a Tail: Promoting Dynamic Stability for Legged Locomotion
Huang Huang, Antonio Loquercio, Ashish Kumar, Neerja Thakkar, Ken Goldberg, Jitendra Malik
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Pegasus: A Novel Bio-Inspired Quadruped Robot with Underactuated Wheeled-Legged Mechanism
Yuzhen Pan, Rezwan Al Islam Khan, Chenyun Zhang, zhang anzheng, Huiliang Shang
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SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies
Alexander Spiridonov, Fabio Buehler, Moriz Berclaz, Valerio Antonio Schelbert, Jorit Geurts, Elena Krasnova, Emma Steinke, Jonas Toma, Joschua Wüthrich, Recep Polat, Wim Zimmermann, Philip Arm, Nikita Rudin, Hendrik Kolvenbach, Marco Hutter
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VAPOR: Legged Robot Navigation in Unstructured Outdoor Environments Using Offline Reinforcement Learning
Kasun Weerakoon Kulathun Mudiyanselage, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha
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Learning to Walk in Confined Spaces Using 3D Representation
Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter
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FT-Net: Learning Failure Recovery and Fault-Tolerant Locomotion for Quadruped Robots
Zeren Luo, Erdong Xiao, Peng Lu
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Foot Shape-Dependent Resistive Force Model for Bipedal Walkers on Granular Terrains
Xunjie Chen, Anikode Aditya, Jingang Yi, Tao Liu
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Non-Smooth Trajectory Optimization for Wheeled Balancing Robots with Contact Switches and Impacts
Victor Klemm, Yvain de Viragh, David Rohr, Roland Siegwart, Marco Tognon
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Modeling and Analysis of Combined Rimless Wheel with Tensegrity Spine
Yuxuan Xiang, Yanqiu Zheng, Fumihiko Asano
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Hierarchical Optimization-Based Control for Whole-Body Loco-Manipulation of Heavy Objects
Alberto Rigo, Muqun Hu, Satyandra K. Gupta, Quan Nguyen
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Learning Agile Locomotion and Adaptive Behaviors Via RL-Augmented MPC
Yiyu Chen, Quan Nguyen
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Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion
Laura Smith, Yunhao Cao, Sergey Levine
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Body Velocity Estimation in a Leg�Wheel Transformable Robot without a Priori Knowledge of Leg�Wheel Ground Contacts
Pei-Chun Huang, I-Chia Chang, Wei-Shun Yu, Pei-Chun Lin
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High-Dimensional Controller Tuning through Latent Representations
Alireza Sarmadi, Farshad Khorrami, Prashanth Krishnamurthy
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Infer and Adapt: Bipedal Locomotion Reward Learning from Demonstrations Via Inverse Reinforcement Learning
Feiyang Wu, Zhaoyuan Gu, Hanran Wu, Anqi Wu, Ye Zhao
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Learning Risk-Aware Quadrupedal Locomotion Using Distributional Reinforcement Learning
Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter
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Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion
Donghoon Youm, Hyunyoung Jung, HyeongJun Kim, Jemin Hwangbo, Hae-Won Park, Sehoon Ha
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Optimization Based Dynamic Skateboarding of Quadrupedal Robot
Zhe Xu, Mohamed Al-Khulaqui, hanxin ma, Jiajun Wang, Quanbin Xin, Yangwei You, mingliang zhou, Diyun Xiang, Shiwu Zhang
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UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments
Samuel Triest, David D. Fan, Sebastian Scherer, Ali-akbar Agha-mohammadi
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VWDER: A Variable Wheel-Diameter Ellipsoidal Robot
ziao qin, Jingzhou Song, Xinglong Gong, Changrui Liu
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An Onboard Framework for Staircases Modeling Based on Point Clouds
Chun Qing, Rongxiang Zeng, xuan Wu, Yongliang Shi, Gan MA
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Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion
George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
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Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping
Guillaume Bellegarda, Milad Shafiee, Merih Ekin Özberk, Auke Ijspeert
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HyperLeg: Biomechanics-Inspired High-DOF Leg and Toe Mechanism for Highly Dynamic Motions
Do-yun Kim, Seong-Ho Yun, Joong-Kyung Lee, JongJun Yoon, Dongyun Nam, Chan-Young Maeng, Yong-Jae Kim
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