robust locomotion

Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs …
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Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
Linear policies are sufficient to realize robust bipedal walking on challenging terrains
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In …
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Linear policies are sufficient to realize robust bipedal walking on challenging terrains
Reinforcement learning-based cascade motion policy design for robust 3D bipedal locomotion
This paper presents a novel reinforcement learning (RL) framework to design cascade feedback control policies for 3D bipedal …
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Reinforcement learning-based cascade motion policy design for robust 3D bipedal locomotion
Learning linear policies for robust bipedal locomotion on terrains with varying slopes
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot …
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Learning linear policies for robust bipedal locomotion on terrains with varying slopes
Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D …
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Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot