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Locomotion is a fundamental skill for humanoid robots.
Modeling and optimal control of human-like running
Gerrit Schultz and Katja Mombaur · 2009
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Biped walking stabilization based on linear inverted pendulum tracking
Shuuji Kajita, Mitsuharu Morisawa, Kanako Miura, Shin’ichiro Nakaoka, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, and Kazuhito Yokoi · 2010
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A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on mabel
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W Grizzle · 2011
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Control of dynamic gaits for a quadrupedal robot
Christian Gehring, Stelian Coros, Marco Hutter, Michael Bloesch, Markus A Hoepflinger, and Roland Siegwart · 2013
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Centroidal dynamics of a humanoid robot
David E Orin, Ambarish Goswami, and Sung-Hee Lee · 2013
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Dynamic state estimation using quadratic programming
X Xinjilefu, Siyuan Feng, and Christopher G. Atkeson · 2014
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Whole-body model-predictive control applied to the hrp-2 humanoid
J. Koenemann, A. Del Prete, Y. Tassa, E. Todorov, O. Stasse, M. Bennewitz, and N. Mansard · 2015
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Perception-less terrain adaptation through whole body control and hierarchical optimization
C. Dario Bellicoso, Christian Gehring, Jemin Hwangbo, Péter Fankhauser, and Marco Hutter · 2016
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3d dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, and Aaron D. Ames · 2016
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A convex model of humanoid momentum dynamics for multi-contact motion generation
Brahayam Ponton, Alexander Herzog, Stefan Schaal, and Ludovic Righetti · 2016
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Improved computation of the humanoid centroidal dynamics and application for whole-body control
Patrick M Wensing and David E Orin · 2016
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Multicontact locomotion of legged robots
Justin Carpentier and Nicolas Mansard · 2018
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Dynamic locomotion in the mit cheetah 3 through convex model-predictive control
Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, and Sangbae Kim · 2018
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Asymmetric actor critic for image-based robot learning
Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, and Pieter Abbeel · 2018
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Gait and trajectory optimization for legged systems through phase-based end-effector parameterization
Alexander W. Winkler, C. Dario Bellicoso, Marco Hutter, and Jonas Buchli · 2018
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Learning symmetric and low-energy locomotion
Wenhao Yu, Greg Turk, and C. Karen Liu · 2018
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Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots
Xingye Da and Jessy Grizzle · 2019
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Footstep planning for autonomous walking over rough terrain
Robert J. Griffin, Georg Wiedebach, Stephen McCrory, Sylvain Bertrand, Inho Lee, and Jerry Pratt · 2019
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Amass: Archive of motion capture as surface shapes
Naureen Mahmood, Nima Ghorbani, Nikolaus F Troje, Gerard Pons-Moll, and Michael J Black · 2019
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C-croc: Continuous and convex resolution of centroidal dynamic trajectories for legged robots in multicontact scenarios
Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, and Michel Taïx · 2020
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Learning quadrupedal locomotion on deformable terrain
Suyoung Choi, Gwanghyeon Ji, Jeongsoo Park, Hyeongjun Kim, Juhyeok Mun, Jeong Hyun Lee, and Jemin Hwangbo · 2023
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Perceptive locomotion through nonlinear model-predictive control
Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, and Marco Hutter · 2023
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Biconmp: A nonlinear model predictive control framework for whole body motion planning
Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, and Ludovic Righetti · 2023
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Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning
I Made Aswin Nahrendra, Byeongho Yu, and Hyun Myung · 2023
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Learning robust and agile legged locomotion using adversarial motion priors
Jinze Wu, Guiyang Xin, Chenkun Qi, and Yufei Xue · 2023
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Crocoddyl: An efficient and versatile framework for multi-contact optimal control
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, and Nicolas Mansard · 2020
Cited alongside, same era.
Isaac gym: High performance gpu-based physics simulation for robot learning
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.
Efficient multicontact pattern generation with sequential convex approximations of the centroidal dynamics
Brahayam Ponton, Majid Khadiv, Avadesh Meduri, and Ludovic Righetti · 2021
Cited alongside, same era.
Learning to walk in minutes using massively parallel deep reinforcement learning
Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter · 2021
Cited alongside, same era.
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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A unified mpc framework for whole-body dynamic locomotion and manipulation
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, and Marco Hutter · 2021
Cited alongside, same era.
Solving footstep planning as a feasibility problem using l1-norm minimization
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, and Young J. Kim · 2021
Cited alongside, same era.
Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, et al · 2024
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Extreme parkour with legged robots
Xuxin Cheng, Kexin Shi, Ananye Agarwal, and Deepak Pathak · 2024
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Advancing humanoid locomotion: Mastering challenging terrains with denoising world model learning
Xinyang Gu, Yen-Jen Wang, Xiang Zhu, Chengming Shi, Yanjiang Guo, Yichen Liu, and Jianyu Chen · 2024
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Dtc: Deep tracking control
Fabian Jenelten, Junzhe He, Farbod Farshidian, and Marco Hutter · 2024
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Exbody2: Advanced expressive humanoid whole-body control
Mazeyu Ji, Xuanbin Peng, Fangchen Liu, Jialong Li, Ge Yang, Xuxin Cheng, and Xiaolong Wang · 2024
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Learning humanoid locomotion with perceptive internal model
Junfeng Long, Junli Ren, Moji Shi, Zirui Wang, Tao Huang, Ping Luo, and Jiangmiao Pang · 2024
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Mobile-television: Predictive motion priors for humanoid whole-body control
Chenhao Lu, Xuxin Cheng, Jialong Li, Shiqi Yang, Mazeyu Ji, Chengjing Yuan, Ge Yang, Sha Yi, and Xiaolong Wang · 2024
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Real-world humanoid locomotion with reinforcement learning
Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, and Koushil Sreenath · 2024
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Wococo: Learning whole-body humanoid control with sequential contacts
Chong Zhang, Wenli Xiao, Tairan He, and Guanya Shi · 2024
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Ziwen Zhuang, Shenzhe Yao, and Hang Zhao · 2024
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