3 accepted papers
Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose \textit{Multi-Loco}, a novel unified framework combining a morphology-agnostic generative diffu…
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The proposed approach involves utilizing the linearized model of u…
This paper presents a new framework for the generation of high-speed running jumps to clear terrain obstacles in quadrupedal robots. Our methods enable the quadruped to autonomously jump over obstacles up to 40 cm in height within a single control framework. Specifically, we propose new control syst…