3 papers
cs.RO2024
Development and Validation of a Modular Sensor-Based System for Gait Analysis and Control in Lower-Limb Exoskeletons
Giorgos Marinou, Ibrahima Kourouma, Katja Mombaur
With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to…
cs.RO2024
Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning
William Thibault, Vidyasagar Rajendran, William Melek +1
Learning-based methods have proven useful at generating complex motions for robots, including humanoids. Reinforcement learning (RL) has been used to learn locomotion policies, som…
cs.RO2024
Learning Velocity-based Humanoid Locomotion: Massively Parallel Learning with Brax and MJX
William Thibault, William Melek, Katja Mombaur
Humanoid locomotion is a key skill to bring humanoids out of the lab and into the real-world. Many motion generation methods for locomotion have been proposed including reinforceme…