4 papers
SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning
Peizhuo Li, Hongyi Li, Ge Sun +7
Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns. Most of these approaches use p…
Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture
Mohammad Ali Bazrafshani, Aghil Yousefi-Koma, Amin Amani +10
This paper presents Surena-V, a humanoid robot designed to enhance human-robot collaboration capabilities. The robot features a range of sensors, including barometric tactile senso…
AllGaits: Learning All Quadruped Gaits and Transitions
Guillaume Bellegarda, Milad Shafiee, Auke Ijspeert
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement lea…
Online Optimization of Central Pattern Generators for Quadruped Locomotion
Zewei Zhang, Guillaume Bellegarda, Milad Shafiee +1
Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotio…