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Towards Low-Gravity Planetary Exploration using Reinforcement Learning for Walking, Jumping, and In-flight Attitude Control
Jørgen Anker Olsen, Kostas Alexis
This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar l…
Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning
Jørgen Anker Olsen, Lars Rønhaug Pettersen, Kostas Alexis
This paper presents a curriculum-based reinforcement learning framework for training precise and high-performance jumping policies for the robot `Olympus'. Separate policies are de…
Olympus: A Jumping Quadruped for Planetary Exploration Utilizing Reinforcement Learning for In-Flight Attitude Control
Jørgen Anker Olsen, Grzegorz Malczyk, Kostas Alexis
Exploring planetary bodies with lower gravity, such as the moon and Mars, allows legged robots to utilize jumping as an efficient form of locomotion thus giving them a valuable adv…
Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped
Michail Papadakis, Jørgen Anker Olsen, Ioannis Poulakakis +1
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accu…
Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots
Aleksander Vangen, Tejal Barnwal, Jørgen Anker Olsen +1
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon th…
Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration
Jørgen Anker Olsen, Kostas Alexis
The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Drive…
Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study
Jørgen Anker Olsen, Kostas Alexis
In recent years, robotic exploration has become increasingly important in planetary exploration. One area of particular interest for exploration is Martian lava tubes, which have s…