We present a framework for learning visually-guided quadruped locomotion by integrating
exteroceptive sensing and central pattern generators (CPGs), ie systems of coupled …

Learning a locomotion policy for quadruped robots has traditionally been constrained to a
specific robot morphology, mass, and size. The learning process must usually be repeated …

Quadruped animals are capable of seamless transitions between different gaits. While
energy efficiency appears to be one of the reasons for changing gaits, other determinant …

Quadruped animals seamlessly transition between gaits as they change locomotion speeds.
While the most widely accepted explanation for gait transitions is energy efficiency, there is …

Legged robots in general, and quadrupedal structures in particular, have demonstrated high
potential as a means of locomotion, possessing the ability to carry out tasks that traditional …

Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as
running and jumping. Usually, such behaviors are either optimized and engineered offline …

Legged locomotion holds the premise of universal mobility, a critical capability for many real-
world robotic applications. Both model-based and learning-based approaches have …

Typical legged locomotion controllers are designed or trained offline. This is in contrast to
many animals, which are able to locomote at birth, and rapidly improve their locomotion …

Quadruped robots are showing impressive abilities to navigate the real world. If they are to
become more integrated into society, social trust in interactions with humans will become …

We present a framework for learning a single policy capable of producing all quadruped
gaits and transitions. The framework consists of a policy trained with deep reinforcement …