1 citations · 2 across the 5 of their papers we have counts for
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Efficiently Learning Robust Torque-based Locomotion Through Reinforcement with Model-Based Supervision
Yashuai Yan, Tobias Egle, Christian Ott +1
We propose a control framework that integrates model-based bipedal locomotion with residual reinforcement learning (RL) to achieve robust and adaptive walking in the presence of re…
Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces
Sait Sovukluk, Grazia Zambella, Tobias Egle +1
This paper studies the experimental comparison of two different whole-body control formulations for humanoid robots: inverse dynamics whole-body control (ID-WBC) and passivity-base…
Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region
Tobias Egle, Yashuai Yan, Dongheui Lee +1
This paper introduces a new approach to enhance the robustness of humanoid walking under strong perturbations, such as substantial pushes. Effective recovery from external disturba…
I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning
Yashuai Yan, Esteve Valls Mascaro, Tobias Egle +1
Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challeng…
Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform
Hemjyoti Das, Minh Nhat Vu, Tobias Egle +1
In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of t…