3 papers
cs.MA2024
CommonUppRoad: A Framework of Formal Modelling, Verifying, Learning, and Visualisation of Autonomous Vehicles
Rong Gu, Kaige Tan, Andreas Holck Høeg-Petersen +2
Combining machine learning and formal methods (FMs) provides a possible solution to overcome the safety issue of autonomous driving (AD) vehicles. However, there are gaps to be bri…
cs.RO2024
Optimal Gait Control for a Tendon-driven Soft Quadruped Robot by Model-based Reinforcement Learning
Xuezhi Niu, Kaige Tan, Lei Feng
This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previ…
cs.RO2024
Optimal Gait Design for a Soft Quadruped Robot via Multi-fidelity Bayesian Optimization
Kaige Tan, Xuezhi Niu, Qinglei Ji +2
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics…