3 citations · 5 across the 12 of their papers we have counts for
7 papers · 1 filter
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…