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cs.RO2025
High-speed control and navigation for quadrupedal robots on complex and discrete terrain
Hyeongjun Kim, Hyunsik Oh, Jeongsoo Park +5
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nat…
cs.RO2025
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
David Rytz, Suyoung Choi, Wanming Yu +3
This article presents Platform Adaptive Locomotion (PAL), a unified control method for quadrupedal robots with different morphologies and dynamics. We leverage deep reinforcement l…