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This work aims to push the limits of agility for bipedal robots by enabling a torque-controlled bipedal robot to perform robust and versatile dynamic jumps in the real world.
Experiments in balance with a 3d one-legged hopping machine
M. H. Raibert, M. A. Chepponis, and H. Benjamin Brown · 1984
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Analysis of a simplified hopping robot
Daniel E Koditschek and Martin Buehler · 1991
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Swing-leg retraction: a simple control model for stable running
André Seyfarth, Hartmut Geyer, and Hugh Herr · 2003
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Honda humanoid robots development
Masato Hirose and Kenichi Ogawa · 2007
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Planar bipedal jumping gaits with stable landing
Dip Goswami and Prahlad Vadakkepat · 2009
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The assessment of adolescent female athletes using standing and reactive long jumps
Mark P Moresi, Elizabeth J Bradshaw, David Greene, and Geraldine Naughton · 2011
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Nonlinear model predictive control for rough-terrain robot hopping
Martin Rutschmann, Brian Satzinger, Marten Byl, and Katie Byl · 2012
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Hopping at the resonance frequency: A trajectory generation technique for bipedal robots with elastic joints
Barkan Ugurlu, Jody A Saglia, Nikos G Tsagarakis, and Darwin G Caldwell · 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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A direct method for trajectory optimization of rigid bodies through contact
Michael Posa, Cecilia Cantu, and Russ Tedrake · 2014
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Online planning for autonomous running jumps over obstacles in high-speed quadrupeds
Hae-Won Park, Patrick M Wensing, Sangbae Kim, et al · 2015
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Simultaneous contact, gait, and motion planning for robust multilegged locomotion via mixed-integer convex optimization
Bernardo Aceituno-Cabezas, Carlos Mastalli, Hongkai Dai, Michele Focchi, Andreea Radulescu, Darwin G Caldwell, José Cappelletto, Juan C Grieco, Gerardo Fernández-López, and Claudio Semini · 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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Single leg dynamic motion planning with mixed-integer convex optimization
Yanran Ding, Chuanzheng Li, and Hae-Won Park · 2018
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Learning to walk via deep reinforcement learning
Tuomas Haarnoja, Sehoon Ha, Aurick Zhou, Jie Tan, George Tucker, and Sergey Levine · 2018
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Sim-to-real transfer of robotic control with dynamics randomization
Xue Bin Peng, Marcin Andrychowicz, Wojciech Zaremba, and Pieter Abbeel · 2018
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Feedback control for cassie with deep reinforcement learning
Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan Hurst, and Michiel van de Panne · 2018
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Bipedal hopping: Reduced-order model embedding via optimization-based control
Xiaobin Xiong and Aaron D Ames · 2018
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Precision jumping limits from flight-phase control in salto-1p
Justin K Yim and Ronald S Fearing · 2018
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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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Optimized jumping on the mit cheetah 3 robot
Quan Nguyen, Matthew J Powell, Benjamin Katz, Jared Di Carlo, and Sangbae Kim · 2019
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Sim-to-real transfer for biped locomotion
Wenhao Yu, Visak CV Kumar, Greg Turk, and C Karen Liu · 2019
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Contact-implicit trajectory optimization using an analytically solvable contact model for locomotion on variable ground
Iordanis Chatzinikolaidis, Yangwei You, and Zhibin Li · 2020
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Underactuated motion planning and control for jumping with wheeled-bipedal robots
Hua Chen, Bingheng Wang, Zejun Hong, Cong Shen, Patrick M Wensing, and Wei Zhang · 2020
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Kinodynamic motion planning for multi-legged robot jumping via mixed-integer convex program
Yanran Ding, Chuanzheng Li, and Hae-Won Park · 2020
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Contact-aided invariant extended kalman filtering for robot state estimation
Ross Hartley, Maani Ghaffari, Ryan M Eustice, and Jessy W Grizzle · 2020
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
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Animated cassie: A dynamic relatable robotic character
Zhongyu Li, Christine Cummings, and Koushil Sreenath · 2020
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Variational contact-implicit trajectory optimization
Zachary Manchester and Scott Kuindersma · 2020
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Learning agile robotic locomotion skills by imitating animals
Contact-implicit trajectory optimization with learned deformable contacts using bilevel optimization
Yifan Zhu, Zherong Pan, and Kris Hauser · 2021
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Legged locomotion in challenging terrains using egocentric vision
Ananye Agarwal, Ashish Kumar, Jitendra Malik, and Deepak Pathak · 2022
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Optimizing bipedal maneuvers of single rigid-body models for reinforcement learning
Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan Hurst, Ross L Hatton, Alan Fern, and Kevin Green · 2022
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Cpg-rl: Learning central pattern generators for quadruped locomotion
Guillaume Bellegarda and Auke Ijspeert · 2022
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Robust high-speed running for quadruped robots via deep reinforcement learning
Guillaume Bellegarda, Yiyu Chen, Zhuochen Liu, and Quan Nguyen · 2022
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Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, and Sergey Levine · 2020
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Learning memory-based control for human-scale bipedal locomotion
Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, and Jonathan Hurst · 2020
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Learning locomotion skills for cassie: Iterative design and sim-to-real
Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonanthan Hurst, and Michiel Panne · 2020
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Biologically inspired jumping robots: A comprehensive review
Chi Zhang, Wei Zou, Liping Ma, and Zhiqing Wang · 2020
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Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot
Guillermo A Castillo, Bowen Weng, Wei Zhang, and Ayonga Hereid · 2021
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Robust trajectory optimization over uncertain terrain with stochastic complementarity
Luke Drnach and Ye Zhao · 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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Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization
Miroslav Bogdanovic, Majid Khadiv, and Ludovic Righetti · 2022
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Adversarial motion priors make good substitutes for complex reward functions
Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, and Pieter Abbeel · 2022
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Genloco: Generalized locomotion controllers for quadrupedal robots
Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, et al · 2022
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Deep whole-body control: learning a unified policy for manipulation and locomotion
Zipeng Fu, Xuxin Cheng, and Deepak Pathak · 2022
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Creating a dynamic quadrupedal robotic goalkeeper with reinforcement learning
Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang, Yiming Ni, Yufeng Chi, Yunhao Li, Lizhi Yang, Xue Bin Peng, and Koushil Sreenath · 2022
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Online optimal landing control of the mit mini cheetah
Se Hwan Jeon, Sangbae Kim, and Donghyun Kim · 2022
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Hierarchical reinforcement learning for precise soccer shooting skills using a quadrupedal robot
Yandong Ji, Zhongyu Li, Yinan Sun, Xue Bin Peng, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2022
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Adapting rapid motor adaptation for bipedal robots
Ashish Kumar, Zhongyu Li, Jun Zeng, Deepak Pathak, Koushil Sreenath, and Jitendra Malik · 2022
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Bilevel optimization for planning through contact: A semidirect method
Benoit Landry, Joseph Lorenzetti, Zachary Manchester, and Marco Pavone · 2022
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Human-ai shared control via policy dissection
Quanyi Li, Zhenghao Peng, Haibin Wu, Lan Feng, and Bolei Zhou · 2022
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Rapid locomotion via reinforcement learning
Gabriel Margolis, Ge Yang, Kartik Paigwar, Tao Chen, and Pulkit Agrawal · 2022
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Walk these ways: Tuning robot control for generalization with multiplicity of behavior
Gabriel B Margolis and Pulkit Agrawal · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2022
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Chuong Nguyen, Lingfan Bao, and Quan Nguyen · 2022
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Legged robots that keep on learning: Fine-tuning locomotion policies in the real world
Laura Smith, J Chase Kew, Xue Bin Peng, Sehoon Ha, Jie Tan, and Sergey Levine · 2022
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An optimal motion planning framework for quadruped jumping
Zhitao Song, Linzhu Yue, Guangli Sun, Yihu Ling, Hongshuo Wei, Linhai Gui, and Yun-Hui Liu · 2022
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Advanced skills through multiple adversarial motion priors in reinforcement learning
Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, and Marco Hutter · 2022
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Daydreamer: World models for physical robot learning
Philipp Wu, Alejandro Escontrela, Danijar Hafner, Ken Goldberg, and Pieter Abbeel · 2022
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Dynamic bipedal maneuvers through sim-to-real reinforcement learning
Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan Hurst, Kevin Green, and Alan Fern · 2022
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cassie-mujoco-sim, 2023
OSU DRL · 2023
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