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Today's robotic quadruped systems can robustly walk over a diverse range of rough but continuous terrains, where the terrain elevation varies gradually.
Control of a quadruped standing jump over irregular terrain obstacles
H. C. Wong and D. E. Orin · 1995
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Evolution of dynamic maneuvers in a 3d galloping quadruped robot
D. P. Krasny and D. E. Orin · 2006
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A control architecture for quadruped locomotion over rough terrain
J. Z. Kolter, M. P. Rodgers, and A. Y. Ng · 2008
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Learning, planning, and control for quadruped locomotion over challenging terrain
M. Kalakrishnan, J. Buchli, P. Pastor, M. Mistry, and S. Schaal · 2011
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Locomotion skills for simulated quadrupeds
S. Coros, A. Karpathy, B. Jones, L. Reveret, and M. Van De Panne · 2011
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A reduction of imitation learning and structured prediction to no-regret online learning
S. Ross, G. Gordon, and D. Bagnell · 2011
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Quadratic programming for inverse dynamics with optimal distribution of contact forces
L. Righetti and S. Schaal · 2012
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Online planning for autonomous running jumps over obstacles in high-speed quadrupeds
H. Park, P. Wensing, and S. Kim · 2015
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Learning and transfer of modulated locomotor controllers
N. Heess, G. Wayne, Y. Tassa, T. Lillicrap, M. Riedmiller, and D. Silver · 2016
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Perception-less terrain adaptation through whole body control and hierarchical optimization
C. D. Bellicoso, C. Gehring, J. Hwangbo, P. Fankhauser, and M. Hutter · 2016
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High-speed bounding with the mit cheetah 2: Control design and experiments
H.-W. Park, P. M. Wensing, and S. Kim · 2017
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Adam: A method for stochastic optimization, 2017
D. P. Kingma and J. Ba · 2017
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Pybullet, a python module for physics simulation in robotics, games and machine learning, 2017
E. Coumans and Y. Bai · 2017
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Learning locomotion skills using deeprl: Does the choice of action space matter?
X. B. Peng and M. van de Panne · 2017
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Robust rough-terrain locomotion with a quadrupedal robot
P. Fankhauser, M. Bjelonic, C. D. Bellicoso, T. Miki, and M. Hutter · 2018
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Computationally-robust and efficient prioritized whole-body controller with contact constraints
D. Kim, J. Lee, J. Ahn, O. Campbell, H. Hwang, and L. Sentis · 2018
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Policies modulating trajectory generators
A. Iscen, K. Caluwaerts, J. Tan, T. Zhang, E. Coumans, V. Sindhwani, and V. Vanhoucke · 2018
Allsteps: Curriculum-driven learning of stepping stone skills
Z. Xie, H. Y. Ling, N. H. Kim, and M. van de Panne · 2020
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Deepgait: Planning and control of quadrupedal gaits using deep reinforcement learning
V. Tsounis, M. Alge, J. Lee, F. Farbod, and M. Hutter · 2020
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Rloc: Terrain-aware legged locomotion using reinforcement learning and optimal control
S. Gangapurwala, M. Geisert, R. Orsolino, M. Fallon, and I. Havoutis · 2020
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Robust quadruped jumping via deep reinforcement learning
G. Bellegarda and Q. Nguyen · 2020
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Learning by cheating
D. Chen, B. Zhou, V. Koltun, and P. Krähenbühl · 2020
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Fast and continuous foothold adaptation for dynamic locomotion through cnns
O. A. V. Magana, V. Barasuol, M. Camurri, L. Franceschi, M. Focchi, M. Pontil, D. G. Caldwell, and C. Semini · 2019
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Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control
D. Kim, J. D. Carlo, B. Katz, G. Bledt, and S. Kim · 2019
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Mini cheetah: A platform for pushing the limits of dynamic quadruped control
B. Katz, J. Di Carlo, and S. Kim · 2019
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Learning agile and dynamic motor skills for legged robots
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter · 2019
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Learning quadrupedal locomotion over challenging terrain
J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2020
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Vision aided dynamic exploration of unstructured terrain with a small-scale quadruped robot
D. Kim, D. Carballo, J. Di Carlo, B. Katz, G. Bledt, B. Lim, and S. Kim · 2020
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R. Grandia, A. J. Taylor, A. D. Ames, and M. Hutter · 2020
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Learning a contact-adaptive controller for robust, efficient legged locomotion
X. Da, Z. Xie, D. Hoeller, B. Boots, A. Anandkumar, Y. Zhu, B. Babich, and A. Garg · 2020
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Rma: Rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
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Learning agile locomotion skills with a mentor
A. Iscen, G. Yu, A. Escontrela, D. Jain, J. Tan, and K. Caluwaerts · 2021
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Fast and efficient locomotion via learned gait transitions, 2021
Y. Yang, T. Zhang, E. Coumans, J. Tan, and B. Boots · 2021
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Blind bipedal stair traversal via sim-to-real reinforcement learning
J. Siekmann, K. Green, J. Warila, A. Fern, and J. Hurst · 2021
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Glide: Generalizable quadrupedal locomotion in diverse environments with a centroidal model, 2021
Z. Xie, X. Da, B. Babich, A. Garg, and M. van de Panne · 2021
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