Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance

28 January 2022

Papers citing "Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance"

8 / 8 papers shown

Title
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers Fan Shi Chong Zhang Takahiro Miki Joonho Lee Marco Hutter Stelian Coros AAML 48 12 0 21 May 2024
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control Zhaoyuan Gu Yuntian Zhao Yipu Chen Rongming Guo Jennifer K. Leestma Gregory S Sawicki Ye Zhao 31 9 0 24 Mar 2024
Optimizing Dynamic Balance in a Rat Robot via the Lateral Flexion of a Soft Actuated Spine Yuhong Huang Zhenshan Bing Zitao Zhang Genghang Zhuang Kai-Qi Huang Alois C. Knoll 16 1 0 01 Mar 2024
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback Jenny Zhang Steve Heim Seungmin Jeon Sangbae Kim 26 2 0 13 Feb 2024
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories Gijeong Kim Dong-Kyun Kang Joon-ha Kim Seungwoo Hong Hae-Won Park 36 10 0 14 Dec 2023
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications Bowen Weng Guillermo A. Castillo Yun-Seok Kang Ayonga Hereid 11 4 0 28 Aug 2023
Safe Reinforcement Learning for Legged Locomotion Tsung-Yen Yang Tingnan Zhang Linda Luu Sehoon Ha Jie Tan Wenhao Yu 21 40 0 05 Mar 2022
Model Hierarchy Predictive Control of Robotic Systems He Li Robert J. Frei Patrick M. Wensing 42 47 0 17 Oct 2020