94 citations · 135 across the 25 of their papers we have counts for
9 papers · 1 filter
SwingBot: Learning Whole-Body Brachiation for Humanoid Robots
Yujie Xiong, Peng Zhai, Taixian Hou +6
Brachiation enables primates to move across overhead supports when ground paths are blocked, suggesting a complementary locomotion mode for robots operating in cluttered or hazardo…
MulDP: Multimodal Diffusion Policy for Autonomous Quadruped Parkour Navigation across Complex Terrains
Kangmai Hu, Yueqi Zhang, Peng Zhai +5
Quadruped robots have demonstrated impressive agility in parkour locomotion across complex terrains. However, most systems still rely on human intervention for high-level planning,…
MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots
Yuqi Li, Peng Zhai, Yueqi Zhang +5
Wheeled-legged robots hold promise for traversing complex terrains and offer superior mobility compared to legged robots. However, wheeled-legged robots must effectively balance bo…
KiRAS: Keyframe Guided Self-Imitation for Robust and Adaptive Skill Learning in Quadruped Robots
Xiaoyi Wei, Peng Zhai, Jiaxin Tu +5
With advances in reinforcement learning and imitation learning, quadruped robots can acquire diverse skills within a single policy by imitating multiple skill-specific datasets. Ho…
RENet: Fault-Tolerant Motion Control for Quadruped Robots via Redundant Estimator Networks under Visual Collapse
Yueqi Zhang, Quancheng Qian, Taixian Hou +5
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise…
Music-Driven Legged Robots: Synchronized Walking to Rhythmic Beats
Taixian Hou, Yueqi Zhang, Xiaoyi Wei +4
We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomoti…
Continuous Control of Diverse Skills in Quadruped Robots Without Complete Expert Datasets
Jiaxin Tu, Xiaoyi Wei, Yueqi Zhang +5
Learning diverse skills for quadruped robots presents significant challenges, such as mastering complex transitions between different skills and handling tasks of varying difficult…
A Robust Quadruped Robot with Twisting Waist for Flexible Motions
Quancheng Qian, Xiaoyi Wei, Zonghao Zhang +6
The waist plays a crucial role in the agile movement of many animals in nature. It provides the torso with additional degrees of freedom and flexibility, inspiring researchers to i…
Multi-Task Learning of Active Fault-Tolerant Controller for Leg Failures in Quadruped robots
Taixian Hou, Jiaxin Tu, Xiaofei Gao +3
Electric quadruped robots used in outdoor exploration are susceptible to leg-related electrical or mechanical failures. Unexpected joint power loss and joint locking can immediatel…