Preview optimization for learning locomotion policies on rough terrain

Preview optimization for learning locomotion policies on rough terrain

Legged robots promise a clear advantage in unstructured and challenging terrain, scenarios such as disaster relief, search and rescue, forestry and construction site. Dynamic locomotion on rough terrain has to guarantee stability and maximizing the cross-ability of a local set of candidate footholds...

Descripció completa

Dades bibliogràfiques
Autors principals:	Mastalli, C, Havoutis, I, Radulescu, A, Focchi, M, Caldwell, D, Semini, C
Format:	Conference item
Publicat:	2016

Ítems similars

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion
per: Mastalli, C, et al.
Publicat: (2017)

Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control
per: Mastalli, C, et al.
Publicat: (2020)

High-slope terrain locomotion for torque-controlled quadruped robots
per: Focchi, M, et al.
Publicat: (2016)

Hierarchical planning of dynamic movements without scheduled contact sequences
per: Mastalli, C, et al.
Publicat: (2016)

Optimization for non-periodic dynamic motions of legged systems
per: Radulescu, A, et al.
Publicat: (2016)

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems
per: Radulescu, A, et al.
Publicat: (2017)

RLOC: terrain-aware legged locomotion using reinforcement learning and optimal control
per: Gangapurwala, S, et al.
Publicat: (2022)

Dynamically diverse legged locomotion for rough terrain
per: Byl, Katie, et al.
Publicat: (2011)

Guided constrained policy optimization for dynamic quadrupedal robot locomotion
per: Gangapurwala, S, et al.
Publicat: (2020)

Real-time quadruped gait controller for rough terrain locomotion
per: Ubellacker, Wyatt Lee
Publicat: (2016)

Learning and deploying robust locomotion policies with minimal dynamics randomization
per: Campanaro, L, et al.
Publicat: (2024)

A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots
per: Gennaro Raiola, et al.
Publicat: (2020-11-01)

Model Predictive Control With Environment Adaptation for Legged Locomotion
per: Niraj Rathod, et al.
Publicat: (2021-01-01)

Learning Robust Terrain-Aware Locomotion
per: Margolis, Gabriel B.
Publicat: (2022)

Preview information in locomotive in-cab displays for high-speed trains
per: Einhorn, Jacob
Publicat: (2009)

Modeling, system identication, and control for dynamic locomotion of the LittleDog robot on rough terrain
per: Levashov, Michael Yurievich
Publicat: (2012)

A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains
per: Chao Ding, et al.
Publicat: (2020-01-01)

Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization
per: Melon, O, et al.
Publicat: (2021)

Robust bipedal locomotion on unknown terrain
per: Dai, Hongkai, Ph. D. Massachusetts Institute of Technology
Publicat: (2013)

Terrain Preview Detection and Classification in Unstructured Scenes Based on Vision and Laser Fusion With Deep Learning
per: Lili Wang, et al.
Publicat: (2024-01-01)

Learning low-frequency motion control for robust and dynamic robot locomotion
per: Gangapurwala, S, et al.
Publicat: (2023)

The Recti-Blob II : a conformal shape-changing robot for robust locomotion over rough terrain
per: Allen, Andrew Richard
Publicat: (2009)

Rough terrain vehicle /
per: 343435 Miles, John A., et al.
Publicat: (1983)

Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots
per: Nobili, S, et al.
Publicat: (2017)

Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles
per: Surovik, D, et al.
Publicat: (2021)

Extraction of Preview Elevation Information Based on Terrain Mapping and Trajectory Prediction in Real-Time
per: Lili Wang, et al.
Publicat: (2020-01-01)

Design, Construction, and Rough-Terrain Locomotion Control of Novel Hexapod Walking Robot With Four Degrees of Freedom Per Leg
per: Petr Cizek, et al.
Publicat: (2021-01-01)

Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots
per: Angelo Bratta, et al.
Publicat: (2023-01-01)

Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning
per: Gangapurwala, S, et al.
Publicat: (2021)

Locomotion of jointed figures over complex terrain
per: Sims, Karl (Karl Palmer)
Publicat: (2013)

Bipedal Robot Locomotion on a Terrain with Pitfalls
per: Alireza Tabrizizadeh, et al.
Publicat: (2024-02-01)

Real‐Time Remodeling of Granular Terrain for Robot Locomotion
per: Andras Karsai, et al.
Publicat: (2022-12-01)

Multi-controller multi-objective locomotion planning for legged robots
per: Brandao, M, et al.
Publicat: (2020)

Embodied design for enhanced flipper-based locomotion in complex terrains
per: Nnamdi C. Chikere, et al.
Publicat: (2025-03-01)

Preview
per: Yopi Novita
Publicat: (2017-08-01)

Preview
per: Dircel Aparecida Kailer
Publicat: (2018-05-01)

Previews
per: Stuart P. Atkinson
Publicat: (2019-10-01)

Optimization of CCIR Pathloss Model Using Terrain Roughness Parameter
per: Nathaniel Chimaobi Nnadi, et al.
Publicat: (2017-05-01)

Bounding on Rough Terrain with the LittleDog Robot
per: Shkolnik, Alexander C., et al.
Publicat: (2011)

Perception and control of robot legged locomotion over variable terrain
per: Bosworth, William R., Ph. D. Massachusetts Institute of Technology
Publicat: (2017)