4 papers
Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
Peiyu Yang, Jiatao Ding, Wei Pan +2
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and r…
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation
Zechu Li, Yufeng Jin, Daniel Ordonez Apraez +3
Humans naturally exhibit bilateral symmetry in their gross manipulation skills, effortlessly mirroring simple actions between left and right hands. Bimanual robots-which also featu…
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
Shafeef Omar, Lorenzo Amatucci, Victor Barasuol +2
We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learn…
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
Ilyass Taouil, Giulio Turrisi, Daniel Schleich +3
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world…