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cs.RO2024
FRASA: An End-to-End Reinforcement Learning Agent for Fall Recovery and Stand Up of Humanoid Robots
Clément Gaspard, Marc Duclusaud, Grégoire Passault +2
Humanoid robotics faces significant challenges in achieving stable locomotion and recovering from falls in dynamic environments. Traditional methods, such as Model Predictive Contr…
cs.RO2024
FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting
Clément Gaspard, Grégoire Passault, Mélodie Daniel +1
Designing a humanoid locomotion controller is challenging and classically split up in sub-problems. Footstep planning is one of those, where the sequence of footsteps is defined. E…