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In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently.
C. Gehring, C. D. Bellicoso, S. Coros, M. Bloesch, P. Fankhauser, M. Hutter, and R. Siegwart, “Dynamic trotting on slopes for quadrupedal robots,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2015, pp. 5129–5135
2015
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M. Hutter, C. Gehring, D. Jud, A. Lauber, C. D. Bellicoso, V. Tsounis, J. Hwangbo, K. Bodie, P. Fankhauser, M. Bloesch, R. Diethelm, S. Bachmann, A. Melzer, and M. Hoepflinger, “Anymal - a highly mobile and dynamic quadrupedal robot,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2016, pp. 38–44
2016
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J. Hwangbo, C. D. Bellicoso, P. Fankhauser, and M. Hutter, “Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2016, pp. 3872–3878
2016
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D. J. Hyun, J. Lee, S. Park, and S. Kim, “Implementation of trot-to-gallop transition and subsequent gallop on the mit cheetah i,” The International Journal of Robotics Research , vol. 35, no. 13, pp. 1627–1650, 2016
2016
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2017
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J. Hwangbo, J. Lee, and M. Hutter, “Per-contact iteration method for solving contact dynamics,” IEEE Robotics and Automation Letters , vol. 3, no. 2, pp. 895–902, 2018
2018
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R. S. Sutton and A. G. Barto, Reinforcement Learning: An Introduction , 2nd ed. The MIT Press, 2018
2018
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X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel, “Sim-to-real transfer of robotic control with dynamics randomization,” in 2018 IEEE International Conference on Robotics and Automation (ICRA) , 2018
2018
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J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter, “Learning agile and dynamic motor skills for legged robots,” Science Robotics , vol. 4, no. 26, 2019
2019
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2019
Cited alongside, same era.
2019
Cited alongside, same era.
B. Katz, J. D. Carlo, and S. Kim, “Mini cheetah: A platform for pushing the limits of dynamic quadruped control,” in 2019 IEEE International Conference on Robotics and Automation (ICRA) , 2019, pp. 6295–6301
2019
Cited alongside, same era.
R. Hartley, M. Ghaffari, R. M. Eustice, and J. W. Grizzle, “Contact-aided invariant extended kalman filtering for robot state estimation,” The International Journal of Robotics Research , vol. 39, no. 4, pp. 402–430, 2020
2020
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D. Reda, T. Tao, and M. van de Panne, “Learning to locomote: Understanding how environment design matters for deep reinforcement learning,” in Motion, Interaction and Games , ser. MIG ’20. New York, NY, USA: Association for Computing Machinery, 2020
2020
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A. Kumar, Z. Fu, D. Pathak, and J. Malik, “Rma: Rapid motor adaptation for legged robots,” in Robotics: Science and Systems Conference (RSS 2021) , 2021
2021
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J. Siekmann, K. Green, J. Warila, A. Fern, and J. Hurst, “Blind bipedal stair traversal via sim-to-real reinforcement learning,” in Robotics: Science and Systems Conference (RSS 2021) , 2021
2021
Later among the works it cites.
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J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter, “Learning quadrupedal locomotion over challenging terrain,” Science Robotics , vol. 5, no. 47, 2020
2020
Cited alongside, same era.
X. B. Peng, E. Coumans, T. Zhang, T.-W. E. Lee, J. Tan, and S. Levine, “Learning agile robotic locomotion skills by imitating animals,” in Robotics: Science and Systems (RSS 2020) , 07 2020
2020
Cited alongside, same era.
C. Yang, K. Yuan, Q. Zhu, W. Yu, and Z. Li, “Multi-expert learning of adaptive legged locomotion,” Science Robotics , vol. 5, no. 49, 2020
2020
Cited alongside, same era.
S. Hong, J.-H. Kim, and H.-W. Park, “Real-time constrained nonlinear model predictive control on so(3) for dynamic legged locomotion,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2020, pp. 3982–3989
2020
Cited alongside, same era.
J. Siekmann, Y. Godse, A. Fern, and J. Hurst, “Sim-to-real learning of all common bipedal gaits via periodic reward composition,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) , 2021
2021
Later among the works it cites.
Y. Ding, A. Pandala, C. Li, Y.-H. Shin, and H.-W. Park, “Representation-free model predictive control for dynamic motions in quadrupeds,” IEEE Transactions on Robotics , vol. 37, no. 4, pp. 1154–1171, 2021
2021
Later among the works it cites.
J.-H. Kim, S. Hong, G. Ji, S. Jeon, J. Hwangbo, J.-H. Oh, and H.-W. Park, “Legged robot state estimation with dynamic contact event information,” IEEE Robotics and Automation Letters , vol. 6, no. 4, pp. 6733–6740, 2021
2021
Later among the works it cites.