Legged Robots

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots CoRL 2022 ValueNetQP: Learned One-step Optimal Control for Legged Locomotion L4DC 2022 A Variable Rolling SLIP Model for a Conceptual Leg Shape to Increase Robustness of Uncertain Velocity on Unknown Terrain RSS 2020 A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots RSS 2019 Learning to Walk Via Deep Reinforcement Learning RSS 2019 Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot RSS 2018 Sim-to-Real: Learning Agile Locomotion For Quadruped Robots RSS 2018 Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds RSS 2015 The dynamics of legged locomotion in heterogeneous terrain: universality in scattering and sensitivity to initial conditions RSS 2015 Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot RSS 2012 Hybrid Operational Space Control for Compliant Legged Systems RSS 2012 Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation RSS 2010 Design of a Bio-inspired Dynamical Vertical Climbing Robot RSS 2007 Gait Regulation and Feedback on a Robotic Climbing Hexapod RSS 2006 Qualitative Hybrid Control of Dynamic Bipedal Walking RSS 2006 Biologically Inspired Miniature Water Strider Robot RSS 2005