3 papers
cs.RO2024
Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot
Neil Guan, Shangqun Yu, Shifan Zhu +1
Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in…
cs.RO2024
StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe
Nisal Perera, Shangqun Yu, Daniel Marew +6
We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe…
cs.RO2024
CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots
Shifan Zhu, Zixun Xiong, Donghyun Kim
When legged robots perform agile movements, traditional RGB cameras often produce blurred images, posing a challenge for rapid perception. Event cameras have emerged as a promising…