222 citations · 673 across the 61 of their papers we have counts for
3 papers · 2 filters
Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model
Hua Chen, Patrick M. Wensing, Wei Zhang
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modu…
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in…
Reciprocal Collision Avoidance for General Nonlinear Agents using Reinforcement Learning
Hao Li, Bowen Weng, Abhishek Gupta +2
Finding feasible and collision-free paths for multiple nonlinear agents is challenging in the decentralized scenarios due to limited available information of other agents and compl…