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...

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Bibliografiske detaljer
Main Authors:	Mastalli, C, Havoutis, I, Radulescu, A, Focchi, M, Caldwell, D, Semini, C
Format:	Conference item
Udgivet:	2016

Lignende værker

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

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

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

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

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

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

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

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

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

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

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

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

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

Learning Robust Terrain-Aware Locomotion
af: Margolis, Gabriel B.
Udgivet: (2022)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Locomotion of jointed figures over complex terrain
af: Sims, Karl (Karl Palmer)
Udgivet: (2013)

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

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

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

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

Preview
af: Yopi Novita
Udgivet: (2017-08-01)

Preview
af: Dircel Aparecida Kailer
Udgivet: (2018-05-01)

Previews
af: Stuart P. Atkinson
Udgivet: (2019-10-01)

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

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

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