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We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control.
Legged robots that balance
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Technique for the measurement of hindfoot inversion and eversion and its use to study a normal population
P. Ball and G. Johnson · 1996
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The 3d linear inverted pendulum mode: A simple modeling for a biped walking pattern generation
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Collision detection and reaction: A contribution to safe physical human-robot interaction
S. Haddadin, A. Albu-Schaffer, A. De Luca, and G. Hirzinger · 2008
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Mechatronic design of nao humanoid
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Development of open humanoid platform darwin-op
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Brunnstrom’s clinical kinesiology
P. A. Houglum and D. B. Bertoti · 2011
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Kinesiology: Scientific basis of human motion
N. P. Hamilton · 2011
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The design of the icub humanoid robot
A. Parmiggiani, M. Maggiali, L. Natale, F. Nori, A. Schmitz, N. Tsagarakis, J. S. Victor, F. Becchi, G. Sandini, and G. Metta · 2012
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Overview of the torque-controlled humanoid robot toro
J. Englsberger, A. Werner, C. Ott, B. Henze, M. A. Roa, G. Garofalo, R. Burger, A. Beyer, O. Eiberger, K. Schmid, et al · 2014
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The hermes humanoid system: A platform for full-body teleoperation with balance feedback
A. Wang, J. Ramos, J. Mayo, W. Ubellacker, J. Cheung, and S. Kim · 2015
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Bio-inspired knee joint mechanism for a hydraulic quadruped robot
H. Khan, R. Featherstone, D. G. Caldwell, and C. Semini · 2015
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Stability of surface contacts for humanoid robots: Closed-form formulae of the contact wrench cone for rectangular support areas
S. Caron, Q.-C. Pham, and Y. Nakamura · 2015
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Anymal-a highly mobile and dynamic quadrupedal robot
M. Hutter, C. Gehring, D. Jud, A. Lauber, C. D. Bellicoso, V. Tsounis, J. Hwangbo, K. Bodie, P. Fankhauser, M. Bloesch, et al · 2016
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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
S. Kuindersma, R. Deits, M. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, and R. Tedrake · 2016
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Walk-man: A high-performance humanoid platform for realistic environments
N. G. Tsagarakis, D. G. Caldwell, F. Negrello, W. Choi, L. Baccelliere, V.-G. Loc, J. Noorden, L. Muratore, A. Margan, A. Cardellino, et al · 2017
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Design and implementation of small-sized 3d printed surena-mini humanoid platform
A. Nikkhah, A. Yousefi-Koma, R. Mirjalili, and H. M. Farimani · 2017
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Experimental evaluation of simple estimators for humanoid robots
T. Flayols, A. Del Prete, P. Wensing, A. Mifsud, M. Benallegue, and O. Stasse · 2017
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Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Facilitating model-based control through software-hardware co-design
J. Ramos, B. Katz, M. Y. M. Chuah, and S. Kim · 2018
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A low cost modular actuator for dynamic robots
B. G. Katz · 2018
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Sim-to-real: Learning agile locomotion for quadruped robots
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke · 2018
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Mini cheetah: A platform for pushing the limits of dynamic quadruped control
B. Katz, J. Di Carlo, and S. Kim · 2019
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Closing the sim-to-real loop: Adapting simulation randomization with real world experience
Y. Chebotar, A. Handa, V. Makoviychuk, M. Macklin, J. Issac, N. Ratliff, and D. Fox · 2019
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Learning agile and dynamic motor skills for legged robots
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter · 2019
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An open torque-controlled modular robot architecture for legged locomotion research
F. Grimminger, A. Meduri, M. Khadiv, J. Viereck, M. Wüthrich, M. Naveau, V. Berenz, S. Heim, F. Widmaier, T. Flayols, et al · 2020
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Design of a high torque density modular actuator for dynamic robots
A. Hattori · 2020
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Learning locomotion skills for cassie: Iterative design and sim-to-real
Z. Xie, P. Clary, J. Dao, P. Morais, J. Hurst, and M. Panne · 2020
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Learning quadrupedal locomotion over challenging terrain
J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2020
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Learning agile robotic locomotion skills by imitating animals
Optimizing bipedal locomotion for the 100m dash with comparison to human running
D. Crowley, J. Dao, H. Duan, K. Green, J. Hurst, and A. Fern · 2023
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Design, development, and analysis of the lower body of next-generation 3d-printed humanoid research platform: Pandora
A. J. Fuge, C. W. Herron, B. C. Beiter, B. Kalita, and A. Leonessa · 2023
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Optimal degrees of freedom of the lower extremities for human walking and running
S. Kudo, M. Fujimoto, T. Sato, and A. Nagano · 2023
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Orbit: A unified simulation framework for interactive robot learning environments
M. Mittal, C. Yu, Q. Yu, J. Liu, N. Rudin, D. Hoeller, J. L. Yuan, R. Singh, Y. Guo, H. Mazhar, A. Mandlekar, B. Babich, G. State, M. Hutter, and A. Garg · 2023
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Actuator-constrained reinforcement learning for high-speed quadrupedal locomotion
Y.-H. Shin, T.-G. Song, G. Ji, and H.-W. Park · 2023
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X. B. Peng, E. Coumans, T. Zhang, T.-W. Lee, J. Tan, and S. Levine · 2020
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Lola v1. 1–an upgrade in hardware and software design for dynamic multi-contact locomotion
P. Seiwald, S.-C. Wu, F. Sygulla, T. F. Berninger, N.-S. Staufenberg, M. F. Sattler, N. Neuburger, D. Rixen, and F. Tombari · 2021
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The MIT humanoid robot: Design, motion planning, and control for acrobatic behaviors
M. Chignoli, D. Kim, E. Stanger-Jones, and S. Kim · 2021
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Sim-to-real learning of all common bipedal gaits via periodic reward composition
J. Siekmann, Y. Godse, A. Fern, and J. Hurst · 2021
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Blind bipedal stair traversal via sim-to-real reinforcement learning
J. Siekmann, K. Green, J. Warila, A. Fern, and J. Hurst · 2021
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Reinforcement learning for robust parameterized locomotion control of bipedal robots
Z. Li, X. Cheng, X. B. Peng, P. Abbeel, S. Levine, G. Berseth, and K. Sreenath · 2021
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Rma: Rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
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