138 citations · 140 across the 7 of their papers we have counts for
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cs.RO2020★ 138 cited
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…
cs.RO2020
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…