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cs.RO2025
Adaptive MPC-based quadrupedal robot control under periodic disturbances
Elizaveta Pestova, Ilya Osokin, Danil Belov +1
Recent advancements in adaptive control for reference trajectory tracking enable quadrupedal robots to perform locomotion tasks under challenging conditions. There are methods enab…
cs.RO2025
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning
Danil Belov, Artem Erkhov, Elizaveta Pestova +3
The aim of this work is to enable quadrupedal robots to mount skateboards using Reverse Curriculum Reinforcement Learning. Although prior work has demonstrated skateboarding for qu…
cs.RO2024
HyperSurf: Quadruped Robot Leg Capable of Surface Recognition with GRU and Real-to-Sim Transferring
Sergei Satsevich, Yaroslav Savotin, Danil Belov +7
This paper introduces a system of data collection acceleration and real-to-sim transferring for surface recognition on a quadruped robot. The system features a mechanical single-le…