Learning agile and dynamic motor skills for legged robots

Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, +4

Science Robotics

Artificial IntelligenceMotor LearningEngineeringField RoboticsMotor Control +17

ANYmal - a highly mobile and dynamic quadrupedal robot

Marco Hutter, Christian Gehring, Dominic Jud, +11

Robot KinematicsEngineeringField RoboticsOutstanding MobilityKinesiology +15

Learning quadrupedal locomotion over challenging terrain

Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, +2

Repository for Publications and Research Data (ETH Zurich)

Learning robust perceptive locomotion for quadrupedal robots in the wild

Takahiro Miki, Joonho Lee, Jemin Hwangbo, +3

Science Robotics

ANYmal - A Highly Mobile and Dynamic Quadrupedal Robot

Marco Hutter, Christian Gehring, Dominic Jud, +11

Repository for Publications and Research Data (ETH Zurich)

Per-Contact Iteration Method for Solving Contact Dynamics

Jemin Hwangbo, Joonho Lee, Marco Hutter

IEEE Robotics and Automation Letters

Numerical AnalysisRobot KinematicsEngineeringMechanical EngineeringPgs Method +16

Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion

Gwanghyeon Ji, Juhyeok Mun, Hyeongjun Kim, +1

IEEE Robotics and Automation Letters

Perception-less terrain adaptation through whole body control and hierarchical optimization

C. Dario Bellicoso, Christian Gehring, Jemin Hwangbo, +2

Robot KinematicsEngineeringField RoboticsMotor ControlAdvanced Motion Control +19

Dynamic locomotion and whole-body control for quadrupedal robots

C. Dario Bellicoso, Fabian Jenelten, Péter Fankhauser, +3

Robot KinematicsEngineeringField RoboticsKinesiologyBio-inspired Robotics +16

Learning quadrupedal locomotion on deformable terrain

Suyoung Choi, Gwanghyeon Ji, Jeongsoo Park, +4

Science Robotics

Artificial IntelligenceEngineeringField RoboticsIntelligent RoboticsIntelligent Systems +15