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cs.RO2022
Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor
Pezhman Abdolahnezhad, Aghil Yousefi-Koma, Amirhosein Vedadi +3
In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, a…
cs.RO2022
Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion
Guillaume Bellegarda, Milad Shafiee, Auke Ijspeert
We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscilla…