3 papers
cs.RO2026
Deep Reinforcement Learning for Bipedal Locomotion: A Brief Survey
Lingfan Bao, Joseph Humphreys, Tianhu Peng +1
Bipedal robots are gaining global recognition due to their potential applications and advancements in artificial intelligence, particularly through Deep Reinforcement Learning (DRL…
cs.RO2025
Learning to Adapt through Bio-Inspired Gait Strategies for Versatile Quadruped Locomotion
Joseph Humphreys, Chengxu Zhou
Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to…
cs.RO2024
Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors
Tianhu Peng, Lingfan Bao, Joseph Humphreys +3
Previous studies have successfully demonstrated agile and robust locomotion in challenging terrains for quadrupedal robots. However, the bipedal locomotion mode for quadruped robot…