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Recent advancements in optimal control and reinforcement learning have enabled quadrupedal robots to perform various agile locomotion tasks over diverse terrains.
Tripod fall: Concept and experiments of a novel approach to humanoid robot fall damage reduction
Seung-kook Yun and Ambarish Goswami · 2014
Earlier work this paper cites.
Optimal vehicle motion control to mitigate secondary crashes after an initial impact
Byung-joo Kim and Huei Peng · 2014
Earlier work this paper cites.
Direction-changing fall control of humanoid robots: theory and experiments
Ambarish Goswami, Seung-kook Yun, Umashankar Nagarajan, Sung-Hee Lee, KangKang Yin, and Shivaram Kalyanakrishnan · 2014
Earlier work this paper cites.
Falls control using posture reshaping and active compliance
Vincent Samy and Abderrahmane Kheddar · 2015
Earlier work this paper cites.
Multiple contact planning for minimizing damage of humanoid falls
Sehoon Ha and C Karen Liu · 2015
Earlier work this paper cites.
Online planning for autonomous running jumps over obstacles in high-speed quadrupeds
Hae-Won Park, Patrick M Wensing, Sangbae Kim, et al · 2015
Earlier work this paper cites.
Qp-based adaptive-gains compliance control in humanoid falls
Vincent Samy, Karim Bouyarmane, and Abderrahmane Kheddar · 2017
Earlier work this paper cites.
Learning a unified control policy for safe falling
Visak CV Kumar, Sehoon Ha, and C Karen Liu · 2017
Earlier work this paper cites.
Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
Earlier work this paper cites.
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
Earlier work this paper cites.
Realization of a real-time optimal control strategy to stabilize a falling humanoid robot with hand contact
Shihao Wang and Kris Hauser · 2018
Earlier work this paper cites.
Robust recovery controller for a quadrupedal robot using deep reinforcement learning
Joonho Lee, Jemin Hwangbo, and Marco Hutter · 2019
Earlier work this paper cites.
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 · 2019
Earlier work this paper cites.
Robust recovery controller for a quadrupedal robot using deep reinforcement learning
Joonho Lee, Jemin Hwangbo, and Marco Hutter · 2019
Earlier work this paper cites.
Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
Cited alongside, same era.
Allsteps: curriculum-driven learning of stepping stone skills
Zhaoming Xie, Hung Yu Ling, Nam Hee Kim, and Michiel van de Panne · 2020
Cited alongside, same era.
Learning agile robotic locomotion skills by imitating animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Edward Lee, Jie Tan, and Sergey Levine · 2020
Cited alongside, same era.
Rma: Rapid motor adaptation for legged robots
Ashish Kumar, Zipeng Fu, Deepak Pathak, and Jitendra Malik · 2021
Cited alongside, same era.
Gabriel B Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, and Pulkit Agrawal · 2021
Cited alongside, same era.
Cajun: Continuous adaptive jumping using a learned centroidal controller
Yuxiang Yang, Guanya Shi, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, and Byron Boots · 2023
Closest in time.
Learning and adapting agile locomotion skills by transferring experience, 2023
Laura Smith, J. Chase Kew, Tianyu Li, Linda Luu, Xue Bin Peng, Sehoon Ha, Jie Tan, and Sergey Levine · 2023
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Legs as manipulator: Pushing quadrupedal agility beyond locomotion, 2023
Xuxin Cheng, Ashish Kumar, and Deepak Pathak · 2023
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Learning arm-assisted fall damage reduction and recovery for legged mobile manipulators
Yuntao Ma, Farbod Farshidian, and Marco Hutter · 2023
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Towards safe landing of falling quadruped robots using a 3-dof morphable inertial tail
Yunxi Tang, Jiajun An, Xiangyu Chu, Shengzhi Wang, Ching Yan Wong, and KW Samuel Au · 2023
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Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
Cited alongside, same era.
Rapid locomotion via reinforcement learning
Gabriel Margolis, Ge Yang, Kartik Paigwar, Tao Chen, and Pulkit Agrawal · 2022
Cited alongside, same era.
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
Cited alongside, same era.
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
Cited alongside, same era.
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
Cited alongside, same era.
Learning to walk in minutes using massively parallel deep reinforcement learning
Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter · 2022
Cited alongside, same era.
Learning quadrupedal locomotion on deformable terrain
Suyoung Choi, Gwanghyeon Ji, Jeongsoo Park, Hyeongjun Kim, Juhyeok Mun, Jeong Hyun Lee, and Jemin Hwangbo · 2023
Cited alongside, same era.
Walk these ways: Tuning robot control for generalization with multiplicity of behavior
Gabriel B Margolis and Pulkit Agrawal · 2023
Closest in time.
Language to rewards for robotic skill synthesis
Wenhao Yu, Nimrod Gileadi, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee, Montse Gonzalez Arenas, Hao-Tien Lewis Chiang, Tom Erez, Leonard Hasenclever, Jan Humplik, Brian Ichter, Ted Xiao, Peng Xu, Andy Zeng, Tingnan Zhang, Nicolas Heess, Dorsa Sadigh, Jie Tan, Yuval Tassa, and Fei Xia · 2023
Closest in time.
Dribblebot: Dynamic legged manipulation in the wild
Yandong Ji, Gabriel B Margolis, and Pulkit Agrawal · 2023
Closest in time.
Barkour: Benchmarking animal-level agility with quadruped robots
Ken Caluwaerts, Atil Iscen, J Chase Kew, Wenhao Yu, Tingnan Zhang, Daniel Freeman, Kuang-Huei Lee, Lisa Lee, Stefano Saliceti, Vincent Zhuang, et al · 2023
Closest in time.
Extreme parkour with legged robots
Xuxin Cheng, Kexin Shi, Ananye Agarwal, and Deepak Pathak · 2023
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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 · 2023
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Amp in the wild: Learning robust, agile, natural legged locomotion skills
Yikai Wang, Zheyuan Jiang, and Jianyu Chen · 2023
Closest in time.
Walk these ways: Tuning robot control for generalization with multiplicity of behavior
Gabriel B. Margolis and Pulkit Agrawal · 2023
Closest in time.