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Spring-based actuators in legged locomotion provide energy-efficiency and improved performance, but increase the difficulty of controller design.
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D. Seidel, M. Hermann, T. Gumpert, F. C. Loeffl, and A. Albu-Schäffer, “Using elastically actuated legged robots in rough terrain: Experiments with DLR quadruped bert,” in 2020 IEEE Aerospace Conference , 2020, pp. 1–8
2020
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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, p. eabc5986, 2020
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2020
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2021
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F. Ruppert and A. Badri-Spröwitz, “Learning plastic matching of robot dynamics in closed-loop central pattern generators,” Nature Machine Intelligence , vol. 4, no. 7, pp. 652–660, 2022
2022
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T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter, “Learning robust perceptive locomotion for quadrupedal robots in the wild,” Science Robotics , vol. 7, no. 62, p. eabk2822, 2022
2022
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N. Rudin, D. Hoeller, P. Reist, and M. Hutter, “Learning to walk in minutes using massively parallel deep reinforcement learning,” in Conference on Robot Learning . PMLR, 2022, pp. 91–100
2022
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D. Büchler, S. Guist, R. Calandra, V. Berenz, B. Schölkopf, and J. Peters, “Learning to play table tennis from scratch using muscular robots,” IEEE Transactions on Robotics , 2022
2022
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L. Smith, I. Kostrikov, and S. Levine, “A walk in the park: Learning to walk in 20 minutes with model-free reinforcement learning,” 2022
2022
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P. Wu, A. Escontrela, D. Hafner, K. Goldberg, and P. Abbeel, “Daydreamer: World models for physical robot learning,” 2022
2022
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T. Hiraoka, T. Imagawa, T. Hashimoto, T. Onishi, and Y. Tsuruoka, “Dropout q-functions for doubly efficient reinforcement learning,” in International Conference on Learning Representations , 2022
2022
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G. Bellegarda and A. J. Ijspeert, “CPG-RL: Learning central pattern generators for quadruped locomotion,” IEEE Robotics and Automation Letters , 2022 (Accepted)
2022
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F. Bjelonic, J. Lee, P. Arm, D. Sako, D. Tateo, J. Peters, and M. Hutter, “Learning-based design and control for quadrupedal robots with parallel-elastic actuators,” IEEE Robotics and Automation Letters , 2023
2023
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