Dynamic Robotics Laboratory
The members of the Dynamic Robotics Laboratory seek to achieve agile locomotion for legged robotic systems. Through creating robots that move swiftly and can easily handle impacts and kinetic energy transfer, we hope to push the limits of bipedal robots to make them useful in the real world. Examples include running, skipping, hopping, and walking up/down stairs. Many of these tasks are difficult due to hybrid, nonlinear dynamics caused by contacts, and ambiguous reward specification. To achieve these goals, our research aims to combine the first principles of legged locomotion with learned control systems.
Our focus is on both the control hierarchy as a whole as well as the individual low level components. For each piece, we want to identify the correct structure based on our knowledge of dynamics and apply learning to solve individual difficult problems.
Masked Whole-Body Controller for Humanoid Robots
Learning Decentralized Multi-Biped Control for Payload Transport
Revisiting Reward Design and Evaluation for Robust Humanoid Walking
Sim-To-Real Learning for Humanoid Box Loco-Manipulation
Learning Vision-Based Bipedal Locomotion for Challenging Terrain
Learning Dynamic Bipedal Walking Across Stepping Stones
Kevin Green's Robotics PhD Thesis Defense
Sim-to-Real Learning of Footstep-Constrained Bipedal Locomotion
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads
Cassie Robot Runs Turf 5k (Uncut)
ICRA 2021: Learning Task Space Actions for Bipedal Locomotion
ICRA 2021: Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition
ICRA 2021: Learning Spring Mass Locomotion
Reliability Tests of a Learned Stair Climbing Controller
Robot Learns to Climb Stairs Blind
Learning Task Space Actions for Bipedal Locomotion
Sim-to-Real Learning of All Common Bipedal Gaits
Cassie robot learns to hop, run and skip
Learning Spring Mass Locomotion on Cassie
First Experiments Back in the Lab
Learning Memory-Based Control for Bipedal Locomotion
Planning for the Unexpected (ICRA 2020 Presentation)
ATRIAS: An Agile and Efficient Bipedal Robot
ATRIAS Robot: Traverses Rough Terrain at 6.6 kph (4.1 mph)
ATRIAS Robot: Runs to the End Zone
ATRIAS Robot: Climbs a 15-cm Obstacle
ATRIAS Bipedal Robot: Takes a Walk in the Park