Legged Robots

Efficient and Versatile Quadrupedal Skating: Optimal Co-design via Reinforcement Learning and Bayesian Optimization
Optimal Co-design for quadrupedal robotic skating using Bayesian optimization (BO) and Reinforcement Learning (RL)
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Efficient and Versatile Quadrupedal Skating: Optimal Co-design via Reinforcement Learning and Bayesian Optimization
Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization
Bi-level optimization framework that jointly calibrates noise covariance and kinematics for state estimation on legged robots.
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Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization
Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
Simultaneous Ground Reaction Force and State Estimation framework for legged robots.
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Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
A decentralized framework for fast state estimation on legged robots.
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Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE