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A necessary capability for humanoid robots is the ability to stand and walk while rejecting natural disturbances.
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Siyuan Feng, Eric Whitman, X Xinjilefu and Christopher Atkeson · 2014
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“Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot”
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“Feedback Control For Cassie With Deep Reinforcement Learning”
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“Fast Online Trajectory Optimization for the Bipedal Robot Cassie.”
Taylor Apgar et al · 2018
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“Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway”
Yukai Gong et al · 2019
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“Sim-to-real learning of all common bipedal gaits via periodic reward composition”
Jonah Siekmann, Yesh Godse, Alan Fern and Jonathan Hurst · 2021
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“Reinforcement learning for robust parameterized locomotion control of bipedal robots”
Zhongyu Li et al · 2021
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“Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot”
Guillermo Castillo, Bowen Weng, Wei Zhang and Ayonga Hereid · 2021
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“Learning spring mass locomotion: Guiding policies with a reduced-order model”
Kevin Green et al · 2021
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“Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition”
Jonah Siekmann, Yesh Godse, Alan Fern and Jonathan Hurst · 2021
Cited alongside, same era.
“Sim-to-real learning for bipedal locomotion under unsensed dynamic loads”
Jeremy Dao et al · 2022
Cited alongside, same era.
“3-d underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization”
“Template model inspired task space learning for robust bipedal locomotion”
Guillermo Castillo et al · 2023
Later among the works it cites.
“Optimizing bipedal locomotion for the 100m dash with comparison to human running”
Devin Crowley et al · 2023
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“Sim-to-Real Learning for Humanoid Box Loco-Manipulation”
Jeremy Dao, Helei Duan and Alan Fern · 2023
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Annan Tang et al · 2023
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“Learning Humanoid Locomotion with Transformers”
Ilija Radosavovic et al · 2023
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Xiaobin Xiong and Aaron Ames · 2022
Cited alongside, same era.
“Learning Setup Policies: Reliable Transition Between Locomotion Behaviours”
Brendan Tidd, Nicolas Hudson, Akansel Cosgun and Jürgen Leitner · 2022
Cited alongside, same era.
“On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots”
Bowen Weng, Guillermo. Castillo, Wei Zhang and Ayonga Hereid · 2022
Cited alongside, same era.
Bowen Weng, Guillermo. Castillo, Yun-Seok Kang and Ayonga Hereid · 2023
Later among the works it cites.
“Learning Vision-Based Bipedal Locomotion for Challenging Terrain”
Helei Duan et al · 2024
Closest in time.
“Expressive Whole-Body Control for Humanoid Robots”
Xuxin Cheng et al · 2024
Closest in time.