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Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns.
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Jonas Buchli, Mrinal Kalakrishnan, Michael Mistry, Peter Pastor, and Stefan Schaal · 2009
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Chun Y Seow · 2013
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A computational model of torque generation: neural, contractile, metabolic and musculoskeletal components
Damien M Callahan, Brian R Umberger, and Jane A Kent-Braun · 2013
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Vahid Hassani, Tegoeh Tjahjowidodo, and Thanh Nho Do · 2014
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A review of algorithms for compliant control of stiff and fixed-compliance robots
Andrea Calanca, Riccardo Muradore, and Paolo Fiorini · 2015
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A comparison among different hill-type contraction dynamics formulations for muscle force estimation
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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
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Whole-body nonlinear model predictive control through contacts for quadrupeds
Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine D Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, and Jonas Buchli · 2018
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Deepmimic: Example-guided deep reinforcement learning of physics-based character skills
Xue Bin Peng, Pieter Abbeel, Sergey Levine, and Michiel Van de Panne · 2018
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A bio-inspired reinforcement learning rule to optimise dynamical neural networks for robot control
Tianqi Wei and Barbara Webb · 2018
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Wenhao Yu, Greg Turk, and C Karen Liu · 2018
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Progressive reinforcement learning with distillation for multi-skilled motion control
Glen Berseth, Cheng Xie, Paul Cernek, and Michiel Van de Panne · 2018
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Learning by playing solving sparse reward tasks from scratch
Martin Riedmiller and Jost Springenberg · 2018
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Learning a faster locomotion gait for a quadruped robot with model-free deep reinforcement learning
Biao Hu, Shibo Shao, Zhengcai Cao, Qing Xiao, Qunzhi Li, and Chao Ma · 2019
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Real-time model predictive control for versatile dynamic motions in quadrupedal robots
Yanran Ding, Abhishek Pandala, and Hae-Won Park · 2019
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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
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Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter · 2019
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Amir H Abdi, Masoud Malakoutian, Thomas Oxland, and Sidney Fels · 2019
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Hierarchical reinforcement learning for quadruped locomotion
Deepali Jain, Atil Iscen, and Ken Caluwaerts · 2019
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The dynamics of the skeletal muscle: A systems biophysics perspective on muscle modeling with the focus on hill-type muscle models
Syn Schmitt, Michael Günther, and Daniel FB Häufle · 2019
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Sim-to-real: Six-legged robot control with deep reinforcement learning and curriculum learning
Bangyu Qin, Yue Gao, and Yi Bai · 2019
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Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2022
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Robust high-speed running for quadruped robots via deep reinforcement learning
Guillaume Bellegarda, Yiyu Chen, Zhuochen Liu, and Quan Nguyen · 2022
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Rloc: Terrain-aware legged locomotion using reinforcement learning and optimal control
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon, and Ioannis Havoutis · 2022
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Learning-based model predictive control for quadruped locomotion on slippery ground
Zhitong Zhang, Honglei An, Qing Wei, and Hongxu Ma · 2022
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CPG-RL: Learning central pattern generators for quadruped locomotion
Guillaume Bellegarda and Auke Ijspeert · 2022
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Evolving rewards to automate reinforcement learning
Aleksandra Faust and Dar Mehta · 2019
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Synaptic plasticity shapes brain connectivity: implications for network topology
abc Stampanoni Bassi and abc Buttari · 2019
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Carl: Controllable agent with reinforcement learning for quadruped locomotion
Ying-Sheng Luo, Jonathan Hans Soeseno, Trista Pei-Chun Chen, and Wei-Chao Chen · 2020
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
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Deepgait: Planning and control of quadrupedal gaits using deep reinforcement learning
Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, and Marco Hutter · 2020
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Data efficient reinforcement learning for legged robots
Yuxiang Yang, Ken Caluwaerts, Atil Iscen, Tingnan Zhang, Jie Tan, and Vikas Sindhwani · 2020
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Learning agile robotic locomotion skills by imitating animals
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, and Sergey Levine · 2020
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Suyoung Choi, Gwanghyeon Ji, Jeongsoo Park, Hyeongjun Kim, Juhyeok Mun, Jeong Hyun Lee, and Jemin Hwangbo · 2023
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Walk these ways: Tuning robot control for generalization with multiplicity of behavior
Gabriel B Margolis and Pulkit Agrawal · 2023
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Learning torque control for quadrupedal locomotion
Shuxiao Chen, Bike Zhang, Mark W Mueller, Akshara Rai, and Koushil Sreenath · 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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Controlling the solo12 quadruped robot with deep reinforcement learning
Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, and Philippe Souères · 2023
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Synloco: Synthesizing central pattern generator and reinforcement learning for quadruped locomotion
Xinyu Zhang, Zhiyuan Xiao, Qingrui Zhang, and Wei Pan · 2023
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Motoneuron-driven computational muscle modelling with motor unit resolution and subject-specific musculoskeletal anatomy
Arnault H Caillet, Andrew TM Phillips, Dario Farina, and Luca Modenese · 2023
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Robust reinforcement learning via progressive task sequence
Yike Li, Yunzhe Tian, Endong Tong, Wenjia Niu, and Jiqiang Liu · 2023
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Adaptive force-based control of dynamic legged locomotion over uneven terrain
Mohsen Sombolestan and Quan Nguyen · 2024
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Decap: Decaying action priors for accelerated imitation learning of torque-based legged locomotion policies
Shivam Sood, Ge Sun, Peizhuo Li, and Guillaume Sartoretti · 2024
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Robust quadruped jumping via deep reinforcement learning
Guillaume Bellegarda, Chuong Nguyen, and Quan Nguyen · 2024
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Rl2ac: Reinforcement learning-based rapid online adaptive control for legged robot robust locomotion
Shangke Lyu, Xin Lang, Han Zhao, Hongyin Zhang, Pengxiang Ding, and Donglin Wang · 2024
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Learning quadrupedal locomotion on tough terrain using an asymmetric terrain feature mining network
Guoyu Zuo, Yong Wang, Daoxiong Gong, and Shuangyue Yu · 2024
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Learning agile locomotion and adaptive behaviors via rl-augmented mpc
Yiyu Chen and Quan Nguyen · 2024
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Learning to adapt: Bio-inspired gait strategies for versatile quadruped locomotion
Joseph Humphreys and Chengxu Zhou · 2024
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Ge Sun, Milad Shafiee, Peizhuo Li, Guillaume Bellegarda, Auke Ijspeert, and Guillaume Sartoretti · 2024
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Learning visual quadrupedal loco-manipulation from demonstrations
Zhengmao He, Kun Lei, Yanjie Ze, Koushil Sreenath, Zhongyu Li, and Huazhe Xu · 2024
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Learning agility and adaptive legged locomotion via curricular hindsight reinforcement learning
Sicen Li, Gang Wang, Yiming Pang, Panju Bai, Shihao Hu, Zhaojin Liu, Liquan Wang, and Jiawei Li · 2024
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