3 accepted papers
Recent advancements in legged robot locomotion and reinforcement learning have demonstrated significant potential for the development of bipedal robot. But the state estimation accuracy and bipedal robot locomotion robustness of Reinforcement Learning based (RL-based) controller is significantly inf
Feasible regions for continuous walking must provide necessary information for footstep planning, including surrounding landing areas and details about obstacles to be avoided during foot swing. However, the current frame lacks sufficient information to construct a feasible region needed at the curr…
High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond state estimation, the foot contact position is also modeled an…