Descriptive Model-based Learning and Control for Bipedal Locomotion
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | Kumar, Suraj, Ruina, Andy |
|---|---|
| Format: | Preprint |
| Publié: |
2025
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
Documents similaires
Capture Point Control in Thruster-Assisted Bipedal Locomotion
par: Pitroda, Shreyansh, et autres
Publié: (2024)
par: Pitroda, Shreyansh, et autres
Publié: (2024)
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
par: Li, Zhongyu, et autres
Publié: (2024)
par: Li, Zhongyu, et autres
Publié: (2024)
Evaluating Robots Like Human Infants: A Case Study of Learned Bipedal Locomotion
par: Crowley, Devin, et autres
Publié: (2025)
par: Crowley, Devin, et autres
Publié: (2025)
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
par: Colombo, Leonardo, et autres
Publié: (2026)
par: Colombo, Leonardo, et autres
Publié: (2026)
Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
par: Xiang, Zhaoyang, et autres
Publié: (2024)
par: Xiang, Zhaoyang, et autres
Publié: (2024)
Dynamic Modeling and Attitude Control of a Reaction-Wheel-Based Low-Gravity Bipedal Hopper
par: Hari, Shriram, et autres
Publié: (2026)
par: Hari, Shriram, et autres
Publié: (2026)
Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer
par: Chen, Qianzhong, et autres
Publié: (2024)
par: Chen, Qianzhong, et autres
Publié: (2024)
Design and Control of a Bio-inspired Wheeled Bipedal Robot
par: Zhao, Haizhou, et autres
Publié: (2023)
par: Zhao, Haizhou, et autres
Publié: (2023)
Adaptive Legged Locomotion via Online Learning for Model Predictive Control
par: Zhou, Hongyu, et autres
Publié: (2025)
par: Zhou, Hongyu, et autres
Publié: (2025)
Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain
par: Karakasis, Chrysostomos, et autres
Publié: (2022)
par: Karakasis, Chrysostomos, et autres
Publié: (2022)
Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control
par: Shi, Yapeng, et autres
Publié: (2025)
par: Shi, Yapeng, et autres
Publié: (2025)
Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion
par: Cai, Wenqi, et autres
Publié: (2026)
par: Cai, Wenqi, et autres
Publié: (2026)
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
par: Kang, Dongho, et autres
Publié: (2023)
par: Kang, Dongho, et autres
Publié: (2023)
Benchmarking Model Predictive Control and Reinforcement Learning Based Control for Legged Robot Locomotion in MuJoCo Simulation
par: Akki, Shivayogi, et autres
Publié: (2025)
par: Akki, Shivayogi, et autres
Publié: (2025)
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
par: Peng, Chengyang, et autres
Publié: (2024)
par: Peng, Chengyang, et autres
Publié: (2024)
HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion
par: Iqbal, Amir, et autres
Publié: (2024)
par: Iqbal, Amir, et autres
Publié: (2024)
Multi-Momentum Observer Contact Estimation for Bipedal Robots
par: Payne, J. Joe, et autres
Publié: (2024)
par: Payne, J. Joe, et autres
Publié: (2024)
Decoupled Thrust-Axis Attitude Control Using Quaternions for Chandrayaan-3 Lunar Landing Mission
par: Rallapalli, Aditya, et autres
Publié: (2026)
par: Rallapalli, Aditya, et autres
Publié: (2026)
Kinodynamic Model Predictive Control for Energy Efficient Locomotion of Legged Robots with Parallel Elasticity
par: Zhuang, Yulun, et autres
Publié: (2025)
par: Zhuang, Yulun, et autres
Publié: (2025)
Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
par: Tao, Chuyuan, et autres
Publié: (2026)
par: Tao, Chuyuan, et autres
Publié: (2026)
Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations
par: Ma, Chengtian, et autres
Publié: (2025)
par: Ma, Chengtian, et autres
Publié: (2025)
DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains
par: Lee, Seunghyun, et autres
Publié: (2025)
par: Lee, Seunghyun, et autres
Publié: (2025)
Vectorable Thrust Control for Multimodal Locomotion of Quadruped Robot SPIDAR
par: Zhao, Moju
Publié: (2025)
par: Zhao, Moju
Publié: (2025)
Ground and Flight Locomotion for Two-Wheeled Drones via Model Predictive Path Integral Control
par: Kojima, Gosuke, et autres
Publié: (2025)
par: Kojima, Gosuke, et autres
Publié: (2025)
Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion
par: Lee, Ho Jae, et autres
Publié: (2024)
par: Lee, Ho Jae, et autres
Publié: (2024)
Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER
par: Zong, Rui, et autres
Publié: (2025)
par: Zong, Rui, et autres
Publié: (2025)
System Identification of Thrust and Torque Characteristics for a Bipedal Robot with Integrated Propulsion
par: Cahill, Thomas
Publié: (2025)
par: Cahill, Thomas
Publié: (2025)
Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing
par: Wang, Tianze, et autres
Publié: (2025)
par: Wang, Tianze, et autres
Publié: (2025)
Continuous Dynamic Bipedal Jumping via Real-time Variable-model Optimization
par: Li, Junheng, et autres
Publié: (2024)
par: Li, Junheng, et autres
Publié: (2024)
Design and Control of Modular Magnetic Millirobots for Multimodal Locomotion and Shape Reconfiguration
par: Oyono, Erik Garcia, et autres
Publié: (2026)
par: Oyono, Erik Garcia, et autres
Publié: (2026)
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
par: Olkin, Zachary, et autres
Publié: (2024)
par: Olkin, Zachary, et autres
Publié: (2024)
Self-Sustained And Coordinated Rhythmic Deformations With SMA For Controller-Free Locomotion
par: Zhou, Ziyang, et autres
Publié: (2023)
par: Zhou, Ziyang, et autres
Publié: (2023)
Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery
par: Forghani, Kimia, et autres
Publié: (2025)
par: Forghani, Kimia, et autres
Publié: (2025)
MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
par: Schperberg, Alexander, et autres
Publié: (2025)
par: Schperberg, Alexander, et autres
Publié: (2025)
Bipedal Robot Running: Human-like Actuation Timing Using Fast and Slow Adaptations
par: Sakurai, Yusuke, et autres
Publié: (2023)
par: Sakurai, Yusuke, et autres
Publié: (2023)
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
par: Esteban, Sergio A., et autres
Publié: (2025)
par: Esteban, Sergio A., et autres
Publié: (2025)
Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
par: Kamimura, Tomoya, et autres
Publié: (2026)
par: Kamimura, Tomoya, et autres
Publié: (2026)
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments
par: Dosunmu-Ogunbi, Oluwami, et autres
Publié: (2024)
par: Dosunmu-Ogunbi, Oluwami, et autres
Publié: (2024)
Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
par: Tayal, Manan, et autres
Publié: (2023)
par: Tayal, Manan, et autres
Publié: (2023)
Efficient Learning of A Unified Policy For Whole-body Manipulation and Locomotion Skills
par: Hou, Dianyong, et autres
Publié: (2025)
par: Hou, Dianyong, et autres
Publié: (2025)
Documents similaires
-
Capture Point Control in Thruster-Assisted Bipedal Locomotion
par: Pitroda, Shreyansh, et autres
Publié: (2024) -
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
par: Li, Zhongyu, et autres
Publié: (2024) -
Evaluating Robots Like Human Infants: A Case Study of Learned Bipedal Locomotion
par: Crowley, Devin, et autres
Publié: (2025) -
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
par: Colombo, Leonardo, et autres
Publié: (2026) -
Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
par: Xiang, Zhaoyang, et autres
Publié: (2024)