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Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for legged robots.
Learning locomotion skills for Cassie: Iterative design and sim-to-real
Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonanthan Hurst, and Michiel van de Panne · 1903
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Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control
Donghyun Kim, Jared Di Carlo, Benjamin Katz, Gerardo Bledt, and Sangbae Kim · 1909
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Solving Rubik’s cube with a robot hand
Ilge Akkaya, Marcin Andrychowicz, Maciek Chociej, Mateusz Litwin, Bob McGrew, Arthur Petron, Alex Paino, Matthias Plappert, Glenn Powell, Raphael Ribas, et al · 1910
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Dian Chen, Brady Zhou, Vladlen Koltun, and Philipp Krähenbühl · 1912
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The gaits of bipedal and quadrupedal animals
R McN Alexander · 1984
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Legged Robots That Balance
Marc H Raibert · 1986
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Biped walking pattern generation by using preview control of zero-moment point
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, and Hirohisa Hirukawa · 2003
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Bigdog, the rough-terrain quadruped robot
Marc Raibert, Kevin Blankespoor, Gabriel Nelson, and Rob Playter · 2008
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Curriculum learning
Yoshua Bengio, Jérôme Louradour, Ronan Collobert, and Jason Weston · 2009
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Walking without thinking about it
Andrei Herdt, Nicolas Perrin, and Pierre-Brice Wieber · 2010
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A reduction of imitation learning and structured prediction to no-regret online learning
Stéphane Ross, Geoffrey Gordon, and Drew Bagnell · 2011
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Quadratic programming for inverse dynamics with optimal distribution of contact forces
Ludovic Righetti and Stefan Schaal · 2012
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Whole-body motion planning with centroidal dynamics and full kinematics
Hongkai Dai, Andrés Valenzuela, and Russ Tedrake · 2014
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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, and Russ Tedrake · 2015
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Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ
Will Bosworth, Jonas Whitney, Sangbae Kim, and Neville Hogan · 2016
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Structured contact force optimization for kino-dynamic motion generation
Alexander Herzog, Stefan Schaal, and Ludovic Righetti · 2016
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High-speed bounding with the MIT Cheetah 2: Control design and experiments
Hae-Won Park, Patrick M Wensing, and Sangbae Kim · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Domain randomization for transferring deep neural networks from simulation to the real world
Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, and Pieter Abbeel · 2017
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Towards practical multi-object manipulation using relational reinforcement learning
Richard Li, Allan Jabri, Trevor Darrell, and Pulkit Agrawal · 2020
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A system for general in-hand object re-orientation
Tao Chen, Jie Xu, and Pulkit Agrawal · 2021
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The MIT humanoid robot: Design, motion planning, and control for acrobatic behaviors
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones, and Sangbae Kim · 2021
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Minimizing energy consumption leads to the emergence of gaits in legged robots
Zipeng Fu, Ashish Kumar, Jitendra Malik, and Deepak Pathak · 2021
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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
Cited alongside, same era.
Sim-to-real: Learning agile locomotion for quadruped robots
Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai, Danijar Hafner, Steven Bohez, and Vincent Vanhoucke · 2018
Cited alongside, same era.
Real-time model predictive control for versatile dynamic motions in quadrupedal robots
Yanran Ding, Abhishek Pandala, and Hae-Won Park · 2019
Cited alongside, same era.
STANCE: Locomotion adaptation over soft terrain
Shamel Fahmi, Michele Focchi, Andreea Radulescu, Geoff Fink, Victor Barasuol, and Claudio Semini · 2019
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Multi-task deep reinforcement learning with popart
Matteo Hessel, Hubert Soyer, Lasse Espeholt, Wojciech Czarnecki, Simon Schmitt, and Hado van Hasselt · 2019
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Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter · 2019
Cited alongside, same era.
Mini Cheetah: A platform for pushing the limits of dynamic quadruped control
Benjamin Katz, Jared Di Carlo, and Sangbae Kim · 2019
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Ashish Kumar, Zipeng Fu, Deepak Pathak, and Jitendra Malik · 2021
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Isaac Gym: High performance GPU-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
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Gabriel B Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, and Pulkit Agrawal · 2021
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Learning to walk in minutes using massively parallel deep reinforcement learning
Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter · 2021
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Blind bipedal stair traversal via sim-to-real reinforcement learning
Jonah Siekmann, Kevin Green, John Warila, Alan Fern, and Jonathan Hurst · 2021
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Dynamics randomization revisited: A case study for quadrupedal locomotion
Zhaoming Xie, Xingye Da, Michiel van de Panne, Buck Babich, and Animesh Garg · 2021
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Unitree Robotics, A1, 2022, https://www.unitree.com/products/a1 , [Online; accessed Apr. 2022]
2022
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Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion
Gwanghyeon Ji, Juhyeok Mun, Hyeongjun Kim, and Jemin Hwangbo · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwanbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2022
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