69 citations · 74 across the 5 of their papers we have counts for
5 papers
Learning Agile Locomotion and Adaptive Behaviors via RL-augmented MPC
Yiyu Chen, Quan Nguyen
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot,…
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior
Ruihan Yang, Zhuoqun Chen, Jianhan Ma +4
The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this s…
Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control
Alberto Rigo, Yiyu Chen, Satyandra K. Gupta +1
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-p…
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning
Guillaume Bellegarda, Yiyu Chen, Zhuochen Liu +1
Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning act…
Adaptive Force-based Control for Legged Robots
Mohsen Sombolestan, Yiyu Chen, Quan Nguyen
Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robot…