17 citations · 24 across the 8 of their papers we have counts for
6 papers · 1 filter
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning
Xiaoyu Huang, Zhongyu Li, Yanzhen Xiang +6
We present a reinforcement learning (RL) framework that enables quadrupedal robots to perform soccer goalkeeping tasks in the real world. Soccer goalkeeping using quadrupeds is a c…
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
Gilbert Feng, Hongbo Zhang, Zhongyu Li +8
Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availa…
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots
Chenyu Yang, Guo Ning Sue, Zhongyu Li +6
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (…
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control
Lizhi Yang, Zhongyu Li, Jun Zeng +1
In this paper, we propose a multi-domain control parameter learning framework that combines Bayesian Optimization (BO) and Hybrid Zero Dynamics (HZD) for locomotion control of bipe…
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Scott Gilroy, Derek Lau, Lizhi Yang +8
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exp…
Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction
Anxing Xiao, Wenzhe Tong, Lizhi Yang +3
An autonomous robot that is able to physically guide humans through narrow and cluttered spaces could be a big boon to the visually-impaired. Most prior robotic guiding systems are…