39 citations · 62 across the 28 of their papers we have counts for
7 papers · 2 filters
A unified framework for walking and running of bipedal robots
Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti +1
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) hei…
Millimeter Wave Wireless Assisted Robot Navigation with Link State Classification
Mingsheng Yin, Akshaj Veldanda, Amee Trivedi +7
The millimeter wave (mmWave) bands have attracted considerable attention for high precision localization applications due to the ability to capture high angular and temporal resolu…
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
Paarth Shah, Avadesh Meduri, Wolfgang Merkt +3
In this paper we explore the use of block coordinate descent (BCD) to optimize the centroidal momentum dynamics for dynamically consistent multi-contact behaviors. The centroidal d…
Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization
Miroslav Bogdanovic, Majid Khadiv, Ludovic Righetti
We present a general, two-stage reinforcement learning approach to create robust policies that can be deployed on real robots without any additional training using a single demonst…
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking
John R. Rebula, Stefan Schaal, James Finley +1
Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior whic…
Simultaneous Navigation and Construction Benchmarking Environments
Wenyu Han, Chen Feng, Haoran Wu +5
We need intelligent robots for mobile construction, the process of navigating in an environment and modifying its structure according to a geometric design. In this task, a major r…