— Legged robots require accurate models of their environment in order to plan and execute paths. We present a probabilistic technique based on Gaussian processes that allows terr...
Christian Plagemann, Sebastian Mischke, Sam Prenti...
Abstract— We propose a fast approach for detecting collisionfree swing-foot trajectories for legged locomotion over extreme terrains. Instead of simulating the swing trajectories...
Finale Doshi, Emma Brunskill, Alexander C. Shkolni...
— We address the problem of foothold selection in robotic legged locomotion over very rough terrain. The difficulty of the problem we address here is comparable to that of human...
Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, S...
– In this paper, we present a hierarchical methodology that learns new walking gaits autonomously while operating in an uncharted environment, such as on the Mars planetary surfa...
— While underactuated robotic systems are capable of energy efficient and rapid dynamic behavior, we still do not fully understand how body dynamics can be actively used for ada...