138 citations · 230 across the 8 of their papers we have counts for
Showing 2020Show all
2 papers · 1 filter
cs.RO2020★ 138 cited
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control
Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino +2
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive…
cs.RO2020★ 1 cited
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion
Abdelrahman Abdallah, Michele Focchi, Romeo Orsolino +1
Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. In this paper, we present a paradigm that allows to design feasible Center of…