63 citations · 124 across the 14 of their papers we have counts for
16 papers
Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running
Devin Crowley, Jeremy Dao, Helei Duan +3
In this paper, we explore the space of running gaits for the bipedal robot Cassie. Our first contribution is to present an approach for optimizing gait efficiency across a spectrum…
Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning
Fangzhou Yu, Ryan Batke, Jeremy Dao +3
For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nomin…
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning
Ryan Batke, Fangzhou Yu, Jeremy Dao +4
In this work, we propose a method to generate reduced-order model reference trajectories for general classes of highly dynamic maneuvers for bipedal robots for use in sim-to-real r…
Learning Dynamic Bipedal Walking Across Stepping Stones
Helei Duan, Ashish Malik, Mohitvishnu S. Gadde +3
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem,…
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads
Jeremy Dao, Kevin Green, Helei Duan +2
Recent work on sim-to-real learning for bipedal locomotion has demonstrated new levels of robustness and agility over a variety of terrains. However, that work, and most prior bipe…
Motion Planning for Agile Legged Locomotion using Failure Margin Constraints
Kevin Green, John Warila, Ross L. Hatton +1
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathema…