214 citations · 251 across the 3 of their papers we have counts for
3 papers
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
David Hoeller, Nikita Rudin, Dhionis Sako +1
Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view…
Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators
Filip Bjelonic, Joonho Lee, Philip Arm +4
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to b…
Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh +4
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integra…