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Recent advances in legged locomotion have enabled quadrupeds to walk on challenging terrains.
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2017
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2018
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2018
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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 , 07 2020
2020
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2020
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2018
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Y. Gong, R. Hartley, X. Da, A. Hereid, O. Harib, J.-K. Huang, and J. Grizzle, “Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway,” in American Control Conference , 2019, pp. 4559–4566
2019
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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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T. Johannink, S. Bahl, A. Nair, J. Luo, A. Kumar, M. Loskyll, J. A. Ojea, E. Solowjow, and S. Levine, “Residual reinforcement learning for robot control,” in International Conference on Robotics and Automation , 2019, pp. 6023–6029
2019
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W. Yu, V. C. Kumar, G. Turk, and C. K. Liu, “Sim-to-real transfer for biped locomotion,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2019, pp. 3503–3510
2019
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W. Zhou, L. Pinto, and A. Gupta, “Environment probing interaction policies,” in 7th International Conference on Learning Representations, ICLR 2019 , 2019
2019
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W. Yu, V. C. V. Kumar, G. Turk, and C. K. Liu, “Sim-to-real transfer for biped locomotion,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems . IEEE, 2019
2019
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I. Clavera, A. Nagabandi, S. Liu, R. S. Fearing, P. Abbeel, S. Levine, and C. Finn, “Learning to adapt in dynamic, real-world environments through meta-reinforcement learning,” in International Conference on Learning Representations , 2019
2019
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2020
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W. Yu, J. Tan, Y. Bai, E. Coumans, and S. Ha, “Learning fast adaptation with meta strategy optimization,” IEEE Robotics and Automation Letters , 2020
2020
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X. Song, Y. Yang, K. Choromanski, K. Caluwaerts, W. Gao, C. Finn, and J. Tan, “Rapidly adaptable legged robots via evolutionary meta-learning,” in International Conference on Intelligent Robots and Systems (IROS) , 2020
2020
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2021
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E. Dantec, R. Budhiraja, A. Roig, T. Lembono, G. Saurel, O. Stasse, P. Fernbach, S. Tonneau, S. Vijayakumar, S. Calinon et al. , “Whole body model predictive control with a memory of motion: Experiments on a torque-controlled talos,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2021, pp. 8202–8208
2021
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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 , 2021
2021
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Z. Li, X. Cheng, X. B. Peng, P. Abbeel, S. Levine, G. Berseth, and K. Sreenath, “Reinforcement learning for robust parameterized locomotion control of bipedal robots,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) , 2021, pp. 2811–2817
2021
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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 , 2021
2021
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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) . IEEE, 2021, pp. 7309–7315
2021
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Z. Fu, A. Kumar, J. Malik, and D. Pathak, “Minimizing energy consumption leads to the emergence of gaits in legged robots,” Conference on Robot Learning , 2021
2021
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2022
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“Experiment video. (2022).” [Online]. Available: https://youtu.be/HSdFHX0qQqg
2022
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