20 citations · 69 across the 14 of their papers we have counts for
4 papers · 1 filter
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking
Daniel Harnack, Christoph Lüth, Lukas Gross +2
Generating physical movement behaviours from their symbolic description is a long-standing challenge in artificial intelligence (AI) and robotics, requiring insights into numerical…
Towards Continuous Time Finite Horizon LQR Control in SE(3)
Shivesh Kumar, Andreas Mueller, Patrick Wensing +1
The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of…
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
Raghav Soni, Daniel Harnack, Hannah Isermann +3
Legged locomotion is arguably the most suited and versatile mode to deal with natural or unstructured terrains. Intensive research into dynamic walking and running controllers has…
AcroMonk: A Minimalist Underactuated Brachiating Robot
Mahdi Javadi, Daniel Harnack, Paula Stocco +4
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is inte…