138 citations · 140 across the 7 of their papers we have counts for
7 papers
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert +5
Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of…
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert +5
Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecti…
Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization
Oliwier Melon, Romeo Orsolino, David Surovik +3
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and…
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino +2
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive…
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations
Oliwier Melon, Mathieu Geisert, David Surovik +2
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust…
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner
Mathieu Geisert, Thomas Yates, Asil Orgen +2
Despite the great progress in quadrupedal robotics during the last decade, selecting good contacts (footholds) in highly uneven and cluttered environments still remains an open cha…