12 citations · 37 across the 29 of their papers we have counts for
4 papers · 1 filter
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,…
Adaptive Feedback Regulator for Powered Lower-Limb Exoskeleton under Model Uncertainty
Kirtankumar Thakkar, Victor Paredes, Ayonga Hereid
This paper presents a neural network (NN) based adaptive feedback regulator to ensure the lateral and longitudinal stability and regulate the desired walking velocity of a lower-li…
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.…