John Warila — accepted AI-conference papers

2022

Motion Planning for Agile Legged Locomotion using Failure Margin Constraints

Kevin Green, John Warila, Ross L. Hatton, Jonathan Hurst

IROS 2022poster

The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum, instead of dynamically-rich models that do not have closed-f…

Cited by 2 Source ↗Scholar ↗

2021

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning

Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan Hurst

RSS 2021poster

Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-world environments. Thus; it is useful to have systems that do not depend on accurate estimation to the point of fragility. In this paper; we explore the limits of such an approach by investigating the proble…

Cited by 231 Source ↗PDF ↗Scholar ↗