4 papers
Learning Human-Robot Handshaking Preferences for Quadruped Robots
Alessandra Chappuis, Guillaume Bellegarda, Auke Ijspeert
Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will beco…
Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion
Ge Sun, Milad Shafiee, Peizhuo Li +3
Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in th…
Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping
Guillaume Bellegarda, Milad Shafiee, Merih Ekin Özberk +1
Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e.…
Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
Milad Shafiee, Guillaume Bellegarda, Auke Ijspeert
Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Comput…