6 citations · 6 across the 2 of their papers we have counts for
3 papers
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra +2
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline,…
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo +2
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feed…
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach
Kartik Paigwar, Lokesh Krishna, Sashank Tirumala +7
In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch…