7 accepted papers
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework, a footstep planner and dynamic model designed using heurist…
Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing highly dynamic behaviors often requires extensive reward tuning or high-quality demonstrations. Leveraging reduced-order
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework, a footstep planner and dynamic model designed using heurist
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this paper, we present a phase-based trajectory optimization that e
Dynamic rotational maneuvers, such as front flips, inherently involve large angular momentum generation and intense impact forces, presenting major challenges for reinforcement learning and sim-to-real transfer. In this work, we propose a general framework for learning and deploying impact-rich, rot…
This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed methods, named E-InEKF and E-IS, fuse kinematics, IMU, LiDAR, and GPS data to mitigate position drift, particularl
This letter proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states parameterized by the friction coefficient in rigid body contact dy