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Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges.
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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, M. Hoepflinger, Hutter2016 - a highly mobile and dynamic quadrupedal robot, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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X. B. Peng, G. Berseth, K. Yin, M. van de Panne, Deeploco: Dynamic locomotion skills using hierarchical deep reinforcement learning, ACM Transactions on Graphics (Proc. SIGGRAPH 2017)
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W. Jakob, J. Rhinelander, D. Moldovan, pybind11 – seamless operability between c++11 and python (2017). Https://github.com/pybind/pybind11
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A. W. Winkler, C. D. Bellicoso, M. Hutter, J. Buchli, Gait and trajectory optimization for legged systems through phase-based end-effector parameterization, IEEE Robotics and Automation Letters
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P. Fankhauser, M. Bjelonic, C. Dario Bellicoso, T. Miki, M. Hutter, Robust rough-terrain locomotion with a quadrupedal robot, 2018 IEEE International Conference on Robotics and Automation (ICRA)
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C. D. Bellicoso, F. Jenelten, C. Gehring, M. Hutter, Dynamic locomotion through online nonlinear motion optimization for quadrupedal robots, IEEE Robotics and Automation Letters
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X. B. Peng, P. Abbeel, S. Levine, M. van de Panne, Deepmimic: Example-guided deep reinforcement learning of physics-based character skills, ACM Transactions on Graphics
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J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, M. Hutter, Learning agile and dynamic motor skills for legged robots, Science Robotics
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R. J. Griffin, G. Wiedebach, S. McCrory, S. Bertrand, I. Lee, J. Pratt, Footstep planning for autonomous walking over rough terrain, 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
2019
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C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control, IEEE Transactions on Robotics
2020
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F. Jenelten, T. Miki, A. E. Vijayan, M. Bjelonic, M. Hutter, Perceptive locomotion in rough terrain – online foothold optimization, IEEE Robotics and Automation Letters
2020
Cited alongside, same era.
J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, M. Hutter, Learning quadrupedal locomotion over challenging terrain, Science Robotics
2020
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Z. Xie, H. Y. Ling, N. H. Kim, M. van de Panne, Allsteps: Curriculum-driven learning of stepping stone skills, Computer Graphics Forum
2020
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V. Tsounis, M. Alge, J. Lee, F. Farshidian, M. Hutter, Deepgait: Planning and control of quadrupedal gaits using deep reinforcement learning, IEEE Robotics and Automation Letters
2020
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O. Melon, M. Geisert, D. Surovik, I. Havoutis, M. Fallon, Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations (2020)
H. Duan, A. Malik, J. Dao, A. Saxena, K. Green, J. Siekmann, A. Fern, J. Hurst, Sim-to-real learning of footstep-constrained bipedal dynamic walking, 2022 International Conference on Robotics and Automation (ICRA)
2022
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W. Yu, D. Jain, A. Escontrela, A. Iscen, P. Xu, E. Coumans, S. Ha, J. Tan, T. Zhang, Visual-locomotion: Learning to walk on complex terrains with vision, Proceedings of the 5th Conference on Robot Learning
2022
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A. Agarwal, A. Kumar, J. Malik, D. Pathak, Legged locomotion in challenging terrains using egocentric vision, 6th Annual Conference on Robot Learning
2022
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F. Jenelten, R. Grandia, F. Farshidian, M. Hutter, Tamols: Terrain-aware motion optimization for legged systems, IEEE Transactions on Robotics
2022
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2020
Cited alongside, same era.
F. Jenelten, J. He, F. Farshidian, M. Hutter, Evaluation of tracking performance and robustness for a hybrid locomotion controller, https://doi.org/10.5061/dryad.b5mkkwhkq
2020
Cited alongside, same era.
N. Rudin, D. Hoeller, P. Reist, M. Hutter, Learning to walk in minutes using massively parallel deep reinforcement learning, 5th Annual Conference on Robot Learning
2021
Cited alongside, same era.
X. B. Peng, Z. Ma, P. Abbeel, S. Levine, A. Kanazawa, Amp: Adversarial motion priors for stylized physics-based character control, ACM Transactions on Graphics
2021
Cited alongside, same era.
D. Surovik, O. Melon, M. Geisert, M. Fallon, I. Havoutis, Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles, Proceedings of the 2020 Conference on Robot Learning
2021
Cited alongside, same era.
O. Melon, R. Orsolino, D. Surovik, M. Geisert, I. Havoutis, M. Fallon, Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization, 2021 IEEE International Conference on Robotics and Automation (ICRA)
2021
Cited alongside, same era.
C. Mastalli, W. Merkt, G. Xin, J. Shim, M. Mistry, I. Havoutis, S. Vijayakumar, Agile maneuvers in legged robots: a predictive control approach (2022)
2022
Cited alongside, same era.
T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, M. Hutter, Learning robust perceptive locomotion for quadrupedal robots in the wild, Science Robotics
2022
Cited alongside, same era.
P. Brakel, S. Bohez, L. Hasenclever, N. Heess, K. Bousmalis, Learning coordinated terrain-adaptive locomotion by imitating a centroidal dynamics planner, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2022
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M. Bogdanovic, M. Khadiv, L. Righetti, Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization, Frontiers in Robotics and AI
2022
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S. Bohez, S. Tunyasuvunakool, P. Brakel, F. Sadeghi, L. Hasenclever, Y. Tassa, E. Parisotto, J. Humplik, T. Haarnoja, R. Hafner, M. Wulfmeier, M. Neunert, B. Moran, N. Siegel, A. Huber, F. Romano, N. Batchelor, F. Casarini, J. Merel, R. Hadsell, N. Heess, Imitate and repurpose: Learning reusable robot movement skills from human and animal behaviors (2022)
2022
Later among the works it cites.
S. Gangapurwala, M. Geisert, R. Orsolino, M. Fallon, I. Havoutis, Rloc: Terrain-aware legged locomotion using reinforcement learning and optimal control, IEEE Transactions on Robotics
2022
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T. Miki, L. Wellhausen, R. Grandia, F. Jenelten, T. Homberger, M. Hutter, Elevation mapping for locomotion and navigation using gpu (2022)
2022
Later among the works it cites.
R. Grandia, F. Jenelten, S. Yang, F. Farshidian, M. Hutter, Perceptive locomotion through nonlinear model-predictive control, IEEE Transactions on Robotics
2023
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K. Caluwaerts, A. Iscen, J. C. Kew, W. Yu, T. Zhang, D. Freeman, K.-H. Lee, L. Lee, S. Saliceti, V. Zhuang, N. Batchelor, S. Bohez, F. Casarini, J. E. Chen, O. Cortes, E. Coumans, A. Dostmohamed, G. Dulac-Arnold, A. Escontrela, E. Frey, R. Hafner, D. Jain, B. Jyenis, Y. Kuang, E. Lee, L. Luu, O. Nachum, K. Oslund, J. Powell, D. Reyes, F. Romano, F. Sadeghi, R. Sloat, B. Tabanpour, D. Zheng, M. Neunert, R. Hadsell, N. Heess, F. Nori, J. Seto, C. Parada, V. Sindhwani, V. Vanhoucke, J. Tan, Barkour: Benchmarking animal-level agility with quadruped robots (2023)
2023
Closest in time.
Z. Xie, X. Da, B. Babich, A. Garg, M. v. de Panne, Glide: Generalizable quadrupedal locomotion in diverse environments with a centroidal model, Algorithmic Foundations of Robotics XV
2023
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