2 papers
cs.RO2025
Very High Frequency Interpolation for Direct Torque Control
Rafael Kourdis, Maciej StÄpieÅ, Jérôme Manhes +4
Torque control enables agile and robust robot motion, but deployment is often hindered by instability and hardware limits. Here, we present a novel solution to execute whole-body l…
cs.RO2025
Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot
Constant Roux, Elliot Chane-Sane, Ludovic De Matteïs +4
Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots u…