4 papers · 1 filter
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
David Rytz, Suyoung Choi, Wanming Yu +3
This article presents Platform Adaptive Locomotion (PAL), a unified control method for quadrupedal robots with different morphologies and dynamics. We leverage deep reinforcement l…
Adaptive Manipulation using Behavior Trees
Jacques Cloete, Wolfgang Merkt, Ioannis Havoutis
Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begu…
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou +2
The current state-of-the-art in quadruped locomotion is able to produce a variety of complex motions. These methods either rely on switching between a discrete set of skills or lea…
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
Aristotelis Papatheodorou, Wolfgang Merkt, Alexander L. Mitchell +1
The current state-of-the-art gradient-based optimisation frameworks are able to produce impressive dynamic manoeuvres such as linear and rotational jumps. However, these methods, w…