— Legged robots offer the potential to navigate highly challenging terrain, and there has recently been much progress in this area. However, a great deal of this recent work has ...
— In this paper, we present a method for co-evolving structures and controller of biped walking robots. Currently, biped walking humanoid robots are designed manually on trial-an...
Ken Endo, Fuminori Yamasaki, Takashi Maeno, Hiroak...
— Legged robots can, in principle, traverse a large variety of obstacles and terrains. In this paper, we describe a successful application of reinforcement learning to the proble...
— Closed-loop, asymptotically stable walking motions are designed for a 5-link, planar bipedal robot model with one degree of underactuation. Parameter optimization is applied to...
— In this work we examine the control of center of mass and swing leg trajectories in LittleDog, a point-foot quadruped robot. It is not clear how to formulate a function to comp...