3 citations · 5 across the 12 of their papers we have counts for
12 papers
Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions
Xulin Chen, Borui He, Ruipeng Liu +3
The Poppy Humanoid is an open-source, low-cost robot suitable for research and education in artificial intelligence. However, we are unaware of any published methodology that achie…
Beyond Coefficients: Forecast-Necessity Testing for Interpretable Causal Discovery in Nonlinear Time-Series Models
Valentina Kuskova, Dmitry Zaytsev, Michael Coppedge
Nonlinear machine-learning models are increasingly used to discover causal relationships in time-series data, yet the interpretation of their outputs remains poorly understood. In…
Beyond Topology: A Morphological Symmetry Graph Representation for Locomotion Policy Learning
Sizhe Wei, Xulin Chen, Fengze Xie +3
Reinforcement learning has enabled impressive locomotion skills on articulated robots, but common policy representations remain only weakly aligned with robot physics. Generic netw…
Towards Dynamic Quadrupedal Gaits: A Symmetry-Guided RL Hierarchy Enables Free Gait Transitions at Varying Speeds
Jiayu Ding, Xulin Chen, Garrett E. Katz +1
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down…
Refining Motion for Peak Performance: Identifying Optimal Gait Parameters for Energy-Efficient Quadrupedal Bounding
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, t…
Gait Transitions in Load-Pulling Quadrupeds: Insights from Sled Dogs and a Minimal SLIP Model
Jiayu Ding, Benjamin Seleb, Heather J. Huson +2
Quadrupedal animals employ diverse galloping strategies to optimize speed, stability, and energy efficiency. However, the biomechanical mechanisms that enable adaptive gait transit…
Iteratively Learning Muscle Memory for Legged Robots to Master Adaptive and High Precision Locomotion
Jing Cheng, Yasser G. Alqaham, Zhenyu Gan +1
This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), a…
16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a…
Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion
Jiayu Ding, Rohit Jakkula, Tom Xiao +1
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each modul…
Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots
Jing Cheng, Yasser G. Alqaham, Zhenyu Gan
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability.…
Lipschitz-Regularized Critics Lead to Policy Robustness Against Transition Dynamics Uncertainty
Xulin Chen, Ruipeng Liu, Zhenyu Gan +1
Uncertainties in transition dynamics pose a critical challenge in reinforcement learning (RL), often resulting in performance degradation of trained policies when deployed on hardw…
Towards Dynamic Quadrupedal Gaits: A Symmetry-Guided RL Hierarchy Enables Free Gait Transitions at Varying Speeds
Jiayu Ding, Xulin Chen, Garret E. Katz +1
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down…