28 citations · 68 across the 9 of their papers we have counts for
3 papers · 2 filters
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion
Young-Ha Shin, Tae-Gyu Song, Gwanghyeon Ji +1
This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical…
Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories
Gijeong Kim, Dongyun Kang, Joon-Ha Kim +2
This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or f…
Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion
Donghoon Youm, Hyunyoung Jung, Hyeongjun Kim +3
Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a nove…