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MBC: Multi-Brain Collaborative Control for Quadruped Robots
Hang Liu, Yi Cheng, Rankun Li +3
In the field of locomotion task of quadruped robots, Blind Policy and Perceptive Policy each have their own advantages and limitations. The Blind Policy relies on preset sensor inf…
Structural Optimization of Lightweight Bipedal Robot via SERL
Yi Cheng, Chenxi Han, Yuheng Min +3
Designing a bipedal robot is a complex and challenging task, especially when dealing with a multitude of structural parameters. Traditional design methods often rely on human intui…
Quadruped robot traversing 3D complex environments with limited perception
Yi Cheng, Hang Liu, Guoping Pan +3
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to p…
RoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation
Guoping Pan, Qingwei Ben, Zhecheng Yuan +6
Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the…