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cs.RO2025
Heuristic Step Planning for Learning Dynamic Bipedal Locomotion: A Comparative Study of Model-Based and Model-Free Approaches
William Suliman, Ekaterina Chaikovskaia, Egor Davydenko +1
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The f…
cs.RO2025
DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion
Egor Davydenko, Andrei Volchenkov, Vladimir Gerasimov +1
In this paper, we propose a novel design of an electrically actuated robotic leg, called the DecARt (Decoupled Actuation Robot) Leg, aimed at performing agile locomotion. This desi…
cs.RO2025
Achieving Precise and Reliable Locomotion with Differentiable Simulation-Based System Identification
Vyacheslav Kovalev, Ekaterina Chaikovskaia, Egor Davydenko +1
Accurate system identification is crucial for reducing trajectory drift in bipedal locomotion, particularly in reinforcement learning and model-based control. In this paper, we pre…