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Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-world environments.
Long short-term memory
Sepp Hochreiter and Jürgen Schmidhuber · 1997
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Stable stair climbing in a simple hexapod robot
EZ Moore and M Buehler · 2001
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Detection of stair dimensions for the path planning of a bipedal robot
Amos Albert, Michael Suppa, and Wilfried Gerth · 2001
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Climbing stairs with EP-WAR2 biped robot
Giorgio Figliolini and Marco Ceccarelli · 2001
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Virtual model control: An intuitive approach for bipedal locomotion
Jerry Pratt and Chee-Meng Chew and Ann Torres and Peter Dilworth and Gill Pratt · 2001
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Swing-leg retraction: a simple control model for stable running
André Seyfarth, Hartmut Geyer, and Hugh Herr · 2003
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Stair climbing for humanoid robots using stereo vision
J-S Gutmann, Masaki Fukuchi, and Masahiro Fujita · 2004
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Running over rough terrain reveals limb control for intrinsic stability
Monica A. Daley and Andrew A. Biewener · 2006
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GPU-accelerated real-time 3D tracking for humanoid locomotion and stair climbing
Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade · 2007
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Swing leg control in human running
Yvonne Blum, Susanne W Lipfert, Juergen Rummel, and André Seyfarth · 2010
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A finite-state machine for accommodating unexpected large ground-height variations in bipedal robot walking
Hae-Won Park, Alireza Ramezani, and Jessy W Grizzle · 2012
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Adam: A method for stochastic optimization
Diederik P Kingma and Jimmy Ba · 2014
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Characterizing swing-leg retraction in human locomotion
KL Poggensee, MA Sharbafi, and A Seyfarth · 2014
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Don’t break a leg: running birds from quail to ostrich prioritise leg safety and economy on uneven terrain
Aleksandra V. Birn-Jeffery, Christian M. Hubicki, Yvonne Blum, Daniel Renjewski, Jonathan W. Hurst, and Monica A. Daley · 2014
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Feedback control for cassie with deep reinforcement learning
Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan Hurst, and Michiel van de Panne · 2018
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Reinforcement learning: An introduction
Richard S Sutton and Andrew G Barto · 2018
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Sim-to-Real Transfer of Robotic Control with Dynamics Randomization
X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel · 2018
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Stair climbing stabilization of the HRP-4 humanoid robot using whole-body admittance control
Stéphane Caron, Abderrahmane Kheddar, and Olivier Tempier · 2019
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On Learning Symmetric Locomotion
Farzad Adbolhosseini, Hung Yu Ling, Zhaoming Xie, Xue Bin Peng, and Michiel van de Panne · 2019
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
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Nicolas Heess, Jonathan J Hunt, Timothy P Lillicrap, and David Silver · 2015
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Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter?
Xue Bin Peng and Michiel van de Panne · 2016
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Proximal Policy Optimization Algorithms , 2017
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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MIT Cheetah 3: Design and control of a robust, dynamic quadruped robot
Gerardo Bledt, Matthew J Powell, Benjamin Katz, Jared Di Carlo, Patrick M Wensing, and Sangbae Kim · 2018
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Cassie: Dynamic Planning on Stairs
Agility Robotics
Cited in the paper.
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Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality , volume 132, pages 165–209
Michele Focchi, Romeo Orsolino, Marco Camurri, Victor Barasuol, Carlos Mastalli, Darwin G. Caldwell, and Claudio Semini · 2020
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Learning memory-based control for human-scale bipedal locomotion
Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, and Jonathan Hurst · 2020
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Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition
Jonah Siekmann, Yesh Godse, Alan Fern, and Jonathan Hurst · 2021
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