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Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds.
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How do you learn to walk? thousands of steps and dozens of falls per day
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M. Posa, C. Cantu, and R. Tedrake · 2014
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P. Eckert, A. Spröwitz, H. Witte, and A. J. Ijspeert · 2015
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Adam: A method for stochastic optimization
D. P. Kingma and J. Ba · 2015
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Bouts of steps: The organization of infant exploration
W. G. Cole, S. R. Robinson, and K. E. Adolph · 2016
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High-dimensional continuous control using generalized advantage estimation
J. Schulman, P. Moritz, S. Levine, M. I. Jordan, and P. Abbeel · 2016
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W. Yu, G. Turk, and C. K. Liu · 2018
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An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal
D. T. Polet and J. E. Bertram · 2019
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Learning agile and dynamic motor skills for legged robots
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Variational contact-implicit trajectory optimization
Z. Manchester and S. Kuindersma · 2020
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Preparing for the unknown: Learning a universal policy with online system identification
W. Yu, J. Tan, C. K. Liu, and G. Turk · 2017
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Reducing gravity takes the bounce out of running
D. T. Polet, R. T. Schroeder, and J. E. Bertram · 2018
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J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke · 2018
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Per-contact iteration method for solving contact dynamics
J. Hwangbo, J. Lee, and M. Hutter · 2018
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Learning quadrupedal locomotion over challenging terrain
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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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Learning agile robotic locomotion skills by imitating animals
X. B. Peng, E. Coumans, T. Zhang, T.-W. E. Lee, J. Tan, and S. Levine · 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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Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning
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