6 papers · 1 filter
Learning to infer and manipulate through distributed whole-arm interaction in a soft robot
Chuhan Zhang, Ebrahim Shahabi, Kseniia Khomenko +2
In animals such as elephants and octopuses, acquiring non-visual information about an object and physically engaging with it are inseparable processes mediated by rich, large-area…
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning
Evelyn D'Elia, Weishu Zhan, Giulio Turrisi +5
Reinforcement learning (RL) algorithms classically suffer from poor sample efficiency. In robotics, a recent line of work has emerged addressing this problem by encoding physics pr…
Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
Peiyu Yang, Jiatao Ding, Wei Pan +2
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and r…
Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
Jiatao Ding, Peiyu Yang, Fabio Boekel +4
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enh…
Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
Georgios Apostolides, Wei Pan, Jens Kober +2
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this c…
SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots
Chuhan Zhang, Cong Wang, Wei Pan +1
Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscilla…