— Legged robots represent great promise for transport in unstructured environments. However, it has been difficult to devise motion planning strategies that achieve a combinatio...
— While underactuated robotic systems are capable of energy efficient and rapid dynamic behavior, we still do not fully understand how body dynamics can be actively used for ada...
- We propose a novel framework for imitation learning that helps a humanoid robot achieve its goal of learning. There are apparent discrepancies in shapes and sizes among humans an...
Woosung Yang, Nak Young Chong, ChangHwan Kim, Bum-...
— We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms t...
Matthew Zucker, James A. Bagnell, Christopher G. A...
— Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generatio...