6 papers
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra +2
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline,…
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo +2
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feed…
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics.…
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart +2
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dyna…
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in…
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid +1
The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this…