1.5k citations · 3.5k across the 9 of their papers we have counts for
9 papers
Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators
Filip Bjelonic, Joonho Lee, Philip Arm +4
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to b…
Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo +3
Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive percep…
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators
Yuntao Ma, Farbod Farshidian, Takahiro Miki +2
Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine thes…
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs
Fan Shi, Timon Homberger, Joonho Lee +6
Quadrupedal robots are skillful at locomotion tasks while lacking manipulation skills, not to mention dexterous manipulation abilities. Inspired by the animal behavior and the dual…
Learning Quadrupedal Locomotion over Challenging Terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen +2
Some of the most challenging environments on our planet are accessible to quadrupedal animals but remain out of reach for autonomous machines. Legged locomotion can dramatically ex…
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning
Vassilios Tsounis, Mitja Alge, Joonho Lee +2
This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to…
Learning agile and dynamic motor skills for legged robots
Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy +4
Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compellin…
Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning
Joonho Lee, Jemin Hwangbo, Marco Hutter
The ability to recover from a fall is an essential feature for a legged robot to navigate in challenging environments robustly. Until today, there has been very little progress on…