3 papers
cs.RO2025
HAC-LOCO: Learning Hierarchical Active Compliance Control for Quadruped Locomotion under Continuous External Disturbances
Xiang Zhou, Xinyu Zhang, Qingrui Zhang
Despite recent remarkable achievements in quadruped control, it remains challenging to ensure robust and compliant locomotion in the presence of unforeseen external disturbances. E…
cs.RO2024
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots
Zhiyuan Xiao, Xinyu Zhang, Xiang Zhou +1
Numerous locomotion controllers have been designed based on Reinforcement Learning (RL) to facilitate blind quadrupedal locomotion traversing challenging terrains. Nevertheless, lo…
cs.RO2023
SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion
Xinyu Zhang, Zhiyuan Xiao, Qingrui Zhang +1
The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration o…