45 citations · 106 across the 35 of their papers we have counts for
9 papers · 1 filter
Fast ground-to-air transition with avian-inspired multifunctional legs
Won Dong Shin, Hoang-Vu Phan, Monica A. Daley +2
Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions…
Locomotion Mode Transitions: Tackling System- and User-Specific Variability in Lower-Limb Exoskeletons
Andrea Dal Prete, Zeynep Özge Orhan, Anastasia Bolotnikova +3
Accurate detection of locomotion transitions, such as walk to sit, walk to stair ascent, and descent, is crucial to effectively control robotic assistive devices, such as lower-lim…
AllGaits: Learning All Quadruped Gaits and Transitions
Guillaume Bellegarda, Milad Shafiee, Auke Ijspeert
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement lea…
Online Optimization of Central Pattern Generators for Quadruped Locomotion
Zewei Zhang, Guillaume Bellegarda, Milad Shafiee +1
Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotio…
Dynamic Object Catching with Quadruped Robot Front Legs
André Schakkal, Guillaume Bellegarda, Auke Ijspeert
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory…
Learning Human-Robot Handshaking Preferences for Quadruped Robots
Alessandra Chappuis, Guillaume Bellegarda, Auke Ijspeert
Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will beco…