This paper presents a comprehensive study on using deep reinforcement learning (RL) to
create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single …

Modern autonomous systems, such as flying, legged, and wheeled robots, are generally
characterized by high-dimensional nonlinear dynamics, which presents challenges for …

In this paper, the current state of research on underwater vehicle stability is analyzed based
on different criteria. The relevant literature in the China National Knowledge Infrastructure …

Abstract Model-free reinforcement learning (RL) for legged locomotion commonly relies on a
physics simulator that can accurately predict the behaviors of every degree of freedom of the …

We present a framework to generate periodic trajectory references for a 3D under-actuated
bipedal robot, using a linear inverted pendulum (LIP) based controller with adaptive neural …

Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid
surfaces moving in the inertial frame (eg, ships and airplanes), remains largely …

Global position control for underactuated bipedal walking is a challenging problem due to
the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear …

This paper introduces an analytically tractable and computationally efficient model for
legged robot dynamics during locomotion on a dynamic rigid surface (DRS), along with an …

This paper proposes a hierarchical task-oriented whole-body locomotion framework for the
exoskeleton walking-cart pushing (EWCP) task, which includes a straight gait and a …

This paper presents the analysis and stabilization of a hybrid-linear inverted pendulum (H-
LIP) model that describes the essential robot dynamics associated with legged locomotion …