2 papers
cs.RO2025
A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis
Aman Singh, Bhavya Giri Goswami, Ketan Nehete +1
This paper introduces a chain-driven, sandwich-legged mid-size quadruped robot designed as an accessible research platform. The design prioritizes enhanced locomotion, improved act…
cs.RO2021
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning
Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel +6
Recent works in Reinforcement Learning (RL) combine model-free (Mf)-RL algorithms with model-based (Mb)-RL approaches to get the best from both: asymptotic performance of Mf-RL and…