12 citations · 37 across the 29 of their papers we have counts for
4 papers · 1 filter
Safe Whole-Body Task Space Control for Humanoid Robots
Victor Paredes, Ayonga Hereid
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many…
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a Reinforcement Learning (RL) based locomotion policy…
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion
Guillermo A. Castillo, Bowen Weng, Shunpeng Yang +2
This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of tas…
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang +1
Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs commercialization. The issues are not merely political, theor…