Reinforcement Learning of Single Legged Locomotion
Graph Chatbot
Chattez avec Graph Search
Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.
AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.
Despite great efforts in designing legged robots, we are still far from the adaptivity, efficiency and robustness with which animals can move. Observations from successful biomimetic designs highlight the significant role of clever morphological design in ...
In this research we aim at proposing a general novel walking method for locomotion of torque controlled robots. The method should be able to produce a wide range of speeds without requiring off-line optimizations and re-tuning of parameters. It should be ca ...
Behavioral performances of our legged robots are still far behind those of biological systems. Energy efficiency and locomotion velocity of our robots, for example, are orders of magnitude lower than those of animals, and in order to fill the gap, it requi ...
We consider the problem of learning robust models of robot motion through demonstration. An approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) is proposed to extract redundancies across multiple demonstrations, and build a ti ...
Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...
Most of the conventional legged robots are based on rigid body parts connected by high-torque actuators and a sophisticated control scheme to achieve stable running locomotion. The energy-efficiency of such robots is roughly 10-100 times lower than that of ...
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 generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...
Biped locomotion has been extensively studied using various approaches, including Passive Dynamic Walking, ZMP-based control and biologically inspired muscle models. In biped locomotion robotics, there has been an increasing interest in variable impedance ...
This paper describes a method to identify the extrinsic parameters of RGB-D cameras mounted on legged robots. Since the calculation of the parameters is based on the detection of the robots feet in the camera images, no special calibration objects are requ ...
