4 papers · 1 filter
Bicycle Acrobatics with Reinforcement Learning
Shamel Fahmi, Arianna Ilvonen, Samuel Zapolsky +8
Bicycle robots are fast and energy efficient, but their simple mechanical design and their underactuated and non-holonomic dynamics make highly agile maneuvers difficult to achieve…
System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot
Benjamin Bokser, Daniel Gonzalez, Aaron Preston +39
Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terr…
Online Adaptation of Learned Vehicle Dynamics Model with Meta-Learning Approach
Yuki Tsuchiya, Thomas Balch, Paul Drews +1
We represent a vehicle dynamics model for autonomous driving near the limits of handling via a multi-layer neural network. Online adaptation is desirable in order to address unseen…
AutoRally An open platform for aggressive autonomous driving
Brian Goldfain, Paul Drews, Changxi You +4
This article presents AutoRally, a 15 scale robotics testbed for autonomous vehicle research. AutoRally is designed for robustness, ease of use, and reproducibility, so that a t…