3 citations · 5 across the 12 of their papers we have counts for
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cs.RO2024★ 3 cited
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.…
cs.LG2024
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…
eess.SY2024
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…