78 citations · 221 across the 28 of their papers we have counts for
17 papers · 1 filter
Hip Energized Monopedal Hopping
Shane Rozen-Levy, Griffon McMahon, Daniel Koditschek
We present a novel stepping strategy for pitch unlocked planar monopeds where the reaction torques from stabilizing pitch with a conventional PD + feedfoward controller are recruit…
Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot
Abriana Stewart-Height, Daniel E. Koditschek
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper pre…
Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped
Timothy Greco, Daniel E. Koditschek
This technical report provides a more thorough treatment of the proofs and derivations contained in a recent conference paper submission. The description of the anchoring controlle…
Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments
Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown +2
We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global react…
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
Nicholas Roy, Ingmar Posner, Tim Barfoot +17
Machine learning has long since become a keystone technology, accelerating science and applications in a broad range of domains. Consequently, the notion of applying learning metho…
Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments
Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas +1
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great de…