6 citations · 9 across the 7 of their papers we have counts for
11 papers
SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning
Peizhuo Li, Hongyi Li, Ge Sun +7
Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns. Most of these approaches use p…
AllGaits: Learning All Quadruped Gaits and Transitions
Guillaume Bellegarda, Milad Shafiee, Auke Ijspeert
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement lea…
Online Optimization of Central Pattern Generators for Quadruped Locomotion
Zewei Zhang, Guillaume Bellegarda, Milad Shafiee +1
Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotio…
Dynamic Object Catching with Quadruped Robot Front Legs
André Schakkal, Guillaume Bellegarda, Auke Ijspeert
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory…
Learning Human-Robot Handshaking Preferences for Quadruped Robots
Alessandra Chappuis, Guillaume Bellegarda, Auke Ijspeert
Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will beco…
Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion
Ge Sun, Milad Shafiee, Peizhuo Li +3
Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in th…