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bipedal locomotion

11 papers

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Co-occurring keywords · papers mentioning both

reinforcement learning (5) control barrier function (3) bipedal walking (2) dynamic walking (2) model uncertainty (2) sim-to-real transfer (2) motion planning (2) whole-body optimization (1) footstep planning (1) linear inverted pendulum model (1)

Papers

Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies L4DC 2022 Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning RSS 2021 Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety L4DC 2021 Towards Real Robot Learning in the Wild: A Case Study in Bipedal Locomotion CoRL 2021 A Variable Rolling SLIP Model for a Conceptual Leg Shape to Increase Robustness of Uncertain Velocity on Unknown Terrain RSS 2020 Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning L4DC 2020 Learning Memory-Based Control for Human-Scale Bipedal Locomotion RSS 2020 Learning to Correspond Dynamical Systems L4DC 2020 Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions RSS 2020 Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview RSS 2017 Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach RSS 2014