Gabriel Nelson

2 accepted papers

2026

Flip Stunts on Bicycle Robots Using Iterative Motion Imitation

Jeonghwan Kim, Shamel Fahmi, Seungeun Rho, Sehoon Ha, Gabriel Nelson

ICRA 2026poster

This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we propose Iterative Motion Imitation (IMI), a method that iteratively imitates trajectories generated by prior policy rol…

Cited by 0 Source ↗PDF ↗Scholar ↗

2023

Integrable Whole-Body Orientation Coordinates for Legged Robots

Yu-Ming Chen, Gabriel Nelson, Robert Griffin, Michael Posa, Jerry Pratt

IROS 2023poster

Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a whole-body orientation that (i) depends on system configuration only and not a history of motion, (ii) can be representative of the orientation of the…

Cited by 8 Source ↗Scholar ↗