25 citations · 25 across the 9 of their papers we have counts for
3 papers · 1 filter
Heuristic Step Planning for Learning Dynamic Bipedal Locomotion: A Comparative Study of Model-Based and Model-Free Approaches
William Suliman, Ekaterina Chaikovskaia, Egor Davydenko +1
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The f…
DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion
Egor Davydenko, Andrei Volchenkov, Vladimir Gerasimov +1
In this paper, we propose a novel design of an electrically actuated robotic leg, called the DecARt (Decoupled Actuation Robot) Leg, aimed at performing agile locomotion. This desi…
Achieving Precise and Reliable Locomotion with Differentiable Simulation-Based System Identification
Vyacheslav Kovalev, Ekaterina Chaikovskaia, Egor Davydenko +1
Accurate system identification is crucial for reducing trajectory drift in bipedal locomotion, particularly in reinforcement learning and model-based control. In this paper, we pre…