Showing cs.ROShow all
3 papers · 1 filter
cs.RO2023
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,…
cs.RO2023
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…
cs.RO2022
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…