Boston Dynamics Spot Robot | All of its Engineering SECRETS!

Development of quadruped walking robots: A review

Quadruped Robot Basics

Underactuated Robotics - Russ Tedrake - MIT

AiDIN

ANYmal

ANYbotics-Github

Barkour

Github

Cheetah

CyberDog 2

DeepRobotics

DFKI, German Research Center for Artificial Intelligence

Charlie

MANTIS

Quad B12

HyQ

KLEIYN

Magnecko

Max

Mevius

Petoi

Open-source robotic cat

PongBot

Pupper

MiniPupper

Raibo

RBQ

Solo8

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. Licence: BSD-3.

Spot

SpotMicroAI

Trakr

Unitree

Vision60

AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding

Attention-Based Neural-Augmented Kalman Filter for Legged Robot State Estimation

AutoPath: Learning Transferable Goal-Conditioned Stochastic Path Prior for Safe Navigation Without Human Demonstrations

Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation

Energy Prediction on Sloping Ground for Quadruped Robots

Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios Low-Level Controllers

Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization

Learning Accurate and Robust Velocity Tracking for Quadrupedal Robots

Learning Quadrupedal Locomotion for a Heavy Hydraulic Robot Using an Actuator Model

Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain

MLM: Learning Multi-Task Loco-Manipulation Whole-Body Control for Quadruped Robot With Arm

Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots

Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation…

Reinforcement Learning for Robust Climbing Locomotion With Rope-Driven Legged Robot

START: Traversing Sparse Footholds With Terrain Reconstruction

Teaching Robots Like Dogs: Learning Agile Navigation from Luring, Gesture, and Speech

WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots

Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

ADEPT: Adaptive Diffusion Environment for Policy Transfer Sim-to-Real

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking

Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning

Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation

CAIMAN: Causal Action Influence Detection for Sample Efficient Loco-manipulation

Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots

FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots

Floating-Base Deep Lagrangian Networks

Generating Diverse Challenging Terrains for Legged Robots Using Quality-Diversity Algorithm

Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation

Learning coordinated badminton skills for legged manipulators

Learning Stable Bipedal Locomotion Skills for Quadrupedal Robots on Challenging Terrains with Automatic Fall Recovery

Learning Steerable Imitation Controllers from Unstructured Animal Motions

Learning Unified Force and Position Control for Legged Loco-Manipulation

LEVA: A high-mobility logistic vehicle with legged suspension

Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain

LocoTouch: Learning Dexterous Quadrupedal Transport with Tactile Sensing

Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models

MoRE: Unlocking Scalability in Reinforcement Learning for Quadruped Vision-Language-Action Models

MuJoCo Playground

Multi-Quadruped Cooperative Object Transport: Learning Decentralized Pinch-Lift-Move

NaVILA: Legged Robot Vision-Language-Action Model for Navigation

NIL: No-data Imitation Learning by Leveraging Pre-trained Video Diffusion Models

Obstacle-Avoidant Leader Following with a Quadruped Robot

Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments

Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL…

Physics-Based Motion Imitation with Adversarial Differential Discriminators

Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots

QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learning

RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation

Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning

Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning

Spatio-Temporal Motion Retargeting for Quadruped Robots

TAR: Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotion

Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning

Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion

Variable Stiffness for Robust Locomotion through Reinforcement Learning

Versatile Legged Locomotion Adaptation through Vision-Language Grounding

Versatile Loco-Manipulation through Flexible Interlimb Coordination

VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion

Whole-Body End-Effector Pose Tracking

A Study of Lightweight, Low-cost Quadrupedal Robot Body Based on a Coaxial Deformation Mechanism

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization

Accessorizing Quadrupedal Robots with Wearable Electronics

Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot

Body Transformer: Leveraging Robot Embodiment for Policy Learning

Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control

CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning

Contrastive Initial State Buffer for Reinforcement Learning

Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots

CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains

Deep Compliant Control for Legged Robots

DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision

DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets

DrEureka: Language Model Guided Sim-To-Real Transfer

DTC: Deep Tracking Control

Dynamic Fall Recovery Control for Legged Robots via Reinforcement Learning

Enhancing Quadruped Robot Locomotion on Deformable Terrains Through Contact Perception and Terrain Classification

Eurekaverse: Environment Curriculum Generation via Large Language Models

Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots

Fast Traversability Estimation for Wild Visual Navigation

GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot

Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation

H2- and H∞-Optimal Model Predictive Controllers for Robust Legged Locomotion

Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation

Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response

Identifying Terrain Physical Parameters from Vision - Towards Physical-Parameter-Aware Locomotion and Navigation

Jumping Locomotion of Quadruped Robot During Running Based on Multiple Model Fusion

Learning Advanced Locomotion for Quadrupedal Robots: A Distributed Multi-Agent Reinforcement Learning Framework with…

Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors

Learning Force Control for Legged Manipulation

Learning Quadruped Locomotion using Differentiable Simulation

Learning Quadrupedal High-Speed Running on Uneven Terrain

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning

Learning robust autonomous navigation and locomotion for wheeled-legged robots

Learning to walk in confined spaces using 3D representation

Learning Visual Quadrupedal Loco-Manipulation from Demonstrations

Learning-based legged locomotion; state of the art and future perspectives

Learning-Based Locomotion Controllers for Quadruped Robots in Indoor Stair Climbing via Deep Reinforcement Learning

Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network

LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation

LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots

ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots

MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining

Morphological Symmetries in Robotics

MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment

Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning

Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning

Offline Adaptation of Quadruped Locomotion using Diffusion Models

Offline Diversity Maximization Under Imitation Constraints

One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion

Online Hierarchical Planning for Multicontact Locomotion Control of Quadruped Robots

OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering

Oscillating latent dynamics in robot systems during walking and reaching

Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg

Pegasus: a Novel Bio-inspired Quadruped Robot with Underactuated Wheeled-Legged Mechanism *

PIE: Parkour With Implicit-Explicit Learning Framework for Legged Robots

ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments

Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion

Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives

Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation

Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers

RL2AC: Reinforcement Learning-based Rapid Online Adaptive Control for Legged Robot Robust Locomotion

Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots

Robust Ladder Climbing with a Quadrupedal Robot

Sim-to-Real: A Performance Comparison of PPO, TD3, and SAC Reinforcement Learning Algorithms for Quadruped Walking…

Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots

Simulation of autonomous rhythm and gait generation in quadrupedal locomotion with hindlegs

Skill Latent Space Based Multigait Learning for a Legged Robot

Slip Detection and Recovery for Quadruped Robots via Orthogonal Decomposition

SLR: Learning Quadruped Locomotion without Privileged Information

SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience

Spatio-Temporal Motion Retargeting for Quadruped Robots

SYNLOCO‐VE: Synthesizing central pattern generator with reinforcement learning and velocity estimator for quadruped…

Track2Act: Predicting Point Tracks from Internet Videos enables Diverse Zero-shot Robot Manipulation

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

Understanding URDF: A Dataset and Analysis

Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

Visual Whole-Body Control for Legged Loco-Manipulation

VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation

Adaptive Control Strategy for Quadruped Robots in Actuator Degradation Scenarios

Adaptive Locomotion Learning for Quadruped Robots by Combining DRL with a Cosine Oscillator Based Rhythm Controller

Adaptive walking control for quadruped robot by using oscillation patterns

AMP in the wild: Learning robust, agile, natural legged locomotion skills

ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots

ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments

ArtPlanner: Robust Legged Robot Navigation in the Field

ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation

Autonomous Stair Ascending and Descending by Quadruped Wheelchairs

Barkour: Benchmarking Animal-level Agility with Quadruped Robots

Barry: A High-Payload and Agile Quadruped Robot

Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion

Controlling the Solo12 quadruped robot with deep reinforcement learning

Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks

DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion…

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots

Dojo: A Differentiable Physics Engine for Robotics

DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning

DribbleBot: Dynamic Legged Manipulation in the Wild

Drilling Task with a Quadruped Robot for Silage Face Measurements

DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and…

Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion

Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface

Event-based Agile Object Catching with a Quadrupedal Robot

Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation

Extreme Parkour with Legged Robots

Fast Traversability Estimation for Wild Visual Navigation

From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning

Geometric Mechanics of Contact-Switching Systems

Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion

Guardians as You Fall: Active Mode Transition for Safe Falling

Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal

Identifying important sensory feedback for learning locomotion skills

Intelligent Control of Multilegged Robot Smooth Motion: A Review

iPlanner: Imperative Path Planning

Language to Rewards for Robotic Skill Synthesis

Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches

Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation

Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning

Learning and Adapting Agile Locomotion Skills by Transferring Experience

Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators

Learning Complex Motor Skills for Legged Robot Fall Recovery

Learning Impulse-Reduced Gait for Quadruped Robot using CMA-ES

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion

Learning Multiple Gaits within Latent Space for Quadruped Robots

Learning Quadruped Locomotion using Bio-Inspired Neural Networks with Intrinsic Rhythmicity

Learning quadrupedal locomotion on deformable terrain

Learning Robust and Agile Legged Locomotion Using Adversarial Motion Priors

Learning Robust Perception-Based Controller for Quadruped Robot

Learning to Exploit Elastic Actuators for Quadruped Locomotion

Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments

Learning Whole-body Manipulation for Quadrupedal Robot

Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion

Lifelike Agility and Play on Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models

LSC: Language-guided Skill Coordination

LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems

Mastering Diverse Domains through World Models

Danijar Hafner, Jurgis Pasukonis, Jimmy Ba, Timothy Lillicrap. Arxiv 2023; Key: DreamerV3, scaling property to world model; ExpEnv: deepmind control suite, atari, DMLab, minecraft

Max: A Wheeled-Legged Quadruped Robot for Multimodal Agile Locomotion

Multi-Contact Whole Body Force Control for Position-Controlled Robots

Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion

OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors

ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments

Orthrus: A Dual-arm Quadrupedal Robot for Mobile Manipulation and Entertainment Applications

Perceptive Locomotion Through Nonlinear Model-Predictive Control

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern…

PyPose: A Library for Robot Learning with Physics-based Optimization

QUAR-VLA: Vision-Language-Action Model for Quadruped Robots

Real-Time Collision-Free Motion Planning and Control for Mobile Manipulation with Quadrupeds

Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control

Reinforcement Learning from Multiple Sensors via Joint Representations

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End

Responsive CPG-Based Locomotion Control for Quadruped Robots

RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion

RoboHive: A Unified Framework for Robot Learning

Robot Parkour Learning

Robust Quadrupedal Locomotion via Risk-Averse Policy Learning

Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination

Roll-Drop: accounting for observation noise with a single parameter

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors

SayTap: Language to Quadrupedal Locomotion

Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots

Skill Graph for Real-world Quadrupedal Robot Reinforcement Learning

SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos

Solving Challenging Control Problems via Learning-based Motion Planning and Imitation

SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion

Taking the First Step Toward Autonomous Quadruped Robots: The Quadruped Robot Challenge at ICRA 2023 in London…

Terrain-Aware Quadrupedal Locomotion via Reinforcement Learning

Towards Legged Locomotion on Steep Planetary Terrain

Tuning Legged Locomotion Controllers via Safe Bayesian Optimization

Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation

A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation

A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots

A Reconfigurable Leg for Walking Robots

A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning

A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators

A1 SLAM: Quadruped SLAM using the A1's Onboard Sensors

Accelerated Policy Learning with Parallel Differentiable Simulation

Accessibility-Based Clustering for Efficient Learning of Locomotion Skills

Advanced Skills by Learning Locomotion and Local Navigation End-to-End

Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning

Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation

Bio-Inspired Rhythmic Locomotion for Quadruped Robots

Central pattern generators evolved for real-time adaptation

Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion

Collision-Backpropagation based Obstacle Avoidance Method for a Legged Robot Expressed as a Simplified Dynamics Model

Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators

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

Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning

Coupling Vision and Proprioception for Navigation of Legged Robots

CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion

Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning

DayDreamer: World Models for Physical Robot Learning

Deep Hierarchical Planning from Pixels

Deep reinforcement learning for real-world quadrupedal locomotion: a comprehensive review

Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

DeepPhase: periodic autoencoders for learning motion phase manifolds

DMAP: a Distributed Morphological Attention Policy for Learning to Locomote with a Changing Body

Elevation Mapping for Locomotion and Navigation using GPU

Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots

Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots

Hierarchical Decentralized Deep Reinforcement Learning Architecture for a Simulated Four-Legged Agent

Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot

Adaptive walking control for quadruped robot by using oscillation patterns

Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning

Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors

Is Conditional Generative Modeling all you need for Decision-Making?

[website]; Anurag Ajay, Yilun Du, Abhi Gupta, Joshua Tenenbaum, Tommi Jaakkola, and Pulkit Agrawal. ICLR, 2023

Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion

Landing control method of a lightweight four-legged landing and walking robot

Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches

Learning a Unified Policy for Whole-Body Control of Manipulation and Locomotion

Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations

Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization

Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control

Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation

Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller

Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion

Learning Modular Robot Visual-motor Locomotion Policies

Learning plastic matching of robot dynamics in closed-loop central pattern generators

Learning robust perceptive locomotion for quadrupedal robots in the wild

Learning Torque Control for Quadrupedal Locomotion

Learning Visual Locomotion with Cross-Modal Supervision

Legged Locomotion in Challenging Terrains using Egocentric Vision

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments

Meta Reinforcement Learning for Optimal Design of Legged Robots

Model Predictive Control of Quadruped Robot Based on Reinforcement Learning

Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control

Multi-Modal Legged Locomotion Framework With Automated Residual Reinforcement Learning

Neural Scene Representation for Locomotion on Structured Terrain

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion

Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis

Online Kinematic Calibration for Legged Robots

Perceptive Locomotion through Nonlinear Model Predictive Control

PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations

PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains

PSTO: Learning Energy-Efficient Locomotion for Quadruped Robots

Quadruped Reinforcement Learning without Explicit State Estimation

Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping

Rapid Locomotion via Reinforcement Learning

Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots

REvolveR: Continuous Evolutionary Models for Robot-to-robot Policy Transfer

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms

Safe Reinforcement Learning for Legged Locomotion

Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries

Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning

State Estimation for Hybrid Locomotion of Driving-Stepping Quadrupeds

STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor

TROT-Q: Traversability and Obstacle Aware Target Tracking System for Quadruped Robots

Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation

Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP

Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions

ViNL: Visual Navigation and Locomotion Over Obstacles

ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots

Walk These Ways: Gait-conditioned Policies Yield Diversified Quadrupedal Agility

Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization

A Review of Physics Simulators for Robotic Applications

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation

Adaptive CLF-MPC With Application to Quadrupedal Robots

Adaptive Force-based Control for Legged Robots

Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control

Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning

Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs

CPG-ACTOR: Reinforcement Learning for Central Pattern Generators

CPG-Based Hierarchical Locomotion Control for Modular Quadrupedal Robots Using Deep Reinforcement Learning

Development of a Quadruped Robot System With Torque-Controllable Modular Actuator Unit

Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion

Efficient Motion Planning Based on Kinodynamic Model for Quadruped Robots Following Persons in Confined Spaces

Fast and Efficient Locomotion via Learned Gait Transitions

GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model

Imitation Learning by Reinforcement Learning

Imitation Learning from MPC for Quadrupedal Multi-Gait Control

Jumping over obstacles with MIT Cheetah 2

Learning Agile Locomotion Skills with a Mentor

Learning Fast Adaptation with Meta Strategy Optimization

Learning multiple gaits of quadruped robot using hierarchical reinforcement learning

Learning to Jump from Pixels

Learning to Navigate Sidewalks in Outdoor Environments

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning

Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers

Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World

Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots

Obstacle Overcoming Gait Design for Quadruped Robot with Vision and Tactile Sensing Feedback

Perceptive Autonomous Stair Climbing for Quadrupedal Robots

Real-time Optimal Navigation Planning Using Learned Motion Costs

Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain

Reinforcement Learning with Evolutionary Trajectory Generator: A General Approach for Quadrupedal Locomotion

Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds

RMA: Rapid Motor Adaptation for Legged Robots

Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning

Search-based Kinodynamic Motion Planning for Omnidirectional Quadruped Robots

Simulation-Based Climbing Capability Analysis for Quadrupedal Robots

Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot

VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots

VILENS: Visual, Inertial, Lidar, and Leg Odometryfor All-Terrain Legged Robots

Vision-based Terrain Perception of Quadruped Robots in Complex Environments

Visual-Locomotion: Learning to Walk on Complex Terrains with Vision

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

Dream to Control: Learning Behaviors by Latent Imagination

Danijar Hafner, Timothy Lillicrap, Jimmy Ba, Mohammad Norouzi. ICLR 2019; Key: DreamerV1, latent space imagination; ExpEnv: deepmind control suite, atari, deepmind lab

Dynamic equilibrium of climbing robots based on stability polyhedron for gravito-inertial acceleration

Dynamics-Aware Unsupervised Discovery of Skills

Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning

First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion

Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion

Learning Agile Robotic Locomotion Skills by Imitating Animals

Learning quadrupedal locomotion over challenging terrain

Learning to Walk in the Real World with Minimal Human Effort

Models, Pixels, and Rewards: Evaluating Design Trade-offs in Visual Model-Based Reinforcement Learning

Mpc-based controller with terrain insight for dynamic legged locomotion

Multi-expert learning of adaptive legged locomotion

One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control

Path Planning With Local Motion Estimations

Perceptive Locomotion in Rough Terrain – Online Foothold Optimization

Plane-based stairway mapping for legged robot locomotion

Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios

Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning

Reinforcement learning for quadrupedal locomotion with design of continual–hierarchical curriculum

Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization

Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot

DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning

Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space

Dynamic Locomotion on Slippery Ground

Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs

Feedback MPC for Torque-Controlled Legged Robots

Hierarchical Reinforcement Learning for Quadruped Locomotion

Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

Learning a Faster Locomotion Gait for a Quadruped Robot with Model-Free Deep Reinforcement Learning

Learning agile and dynamic motor skills for legged robots

Model Predictive Control for Motion Planning of Quadrupedal Locomotion

Policies Modulating Trajectory Generators

Robust Legged Robot State Estimation Using Factor Graph Optimization

SpaceBok: A Dynamic Legged Robot for Space Exploration

Stabilizing Off-Policy Q-Learning via Bootstrapping Error Reduction

Whole-body motion and landing force control for quadrupedal stair climbing

Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains

Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization

Learning to Walk via Deep Reinforcement Learning

MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot

Mode-adaptive neural networks for quadruped motion control

Per-Contact Iteration Method for Solving Contact Dynamics

Policy Transfer with Strategy Optimization

Robust Rough-Terrain Locomotion with a Quadrupedal Robot

Scalability Analysis of Legged Robots for Space Exploration

Sim-to-Real: Learning Agile Locomotion For Quadruped Robots

ANYmal - a highly mobile and dynamic quadrupedal robot

Design of HyQ – a hydraulically and electrically actuated quadruped robot

High-slope terrain locomotion for torque-controlled quadruped robots

Meta Learning Shared Hierarchies

Robot-Centric Elevation Mapping with Uncertainty Estimates

Slip Detection and Recovery for Quadruped Robots

State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU

Survey of Numerical Methods for Trajectory Optimization

Terrain-adaptive locomotion skills using deep reinforcement learning

Tumble stability criterion of integrated locomotion and manipulation

Wholebody trajectory optimization for non-periodic dynamic motions on quadrupedal systems

AI Robotics Seminar - University of Toronto

ANYbotics

Biomimetics MIT

BIOROB

Boston Dynamics

CMU Robotic Exploration Lab

cmurobotics

Conference on Robot Learning

DeepMind

DeepRobotics

Dynamic Robotics Laboratory - Oregon State University

Erwin Coumans

ETH Zürich

Figure AI

Ghost Robotics

Hybrid Robotics

IHMC Robotics

KAIST Urban Robotics Lab

magnecko

MIT Robotics

MPCRL 2021

Recent advances in MPC and RL for legged robots

Northwestern Robotics

Oxford Dynamic Robot Systems Group

PRO ROBOTS

RaiLab Kaist

RcLab

Reinforcement Learning Zurich

RISE LAB - SKKU

Robomechanics Lab

robot mania

Robotics Innovatory

Robotics Today

Stoch Lab IISc

The Robot Brains Podcast

umrobotics

Unitree Robotics

Cheetah

BioRob (Biorobotics Laboratory), EPFL

Github

Dynamic and Autonomous Robotic Systems (DARoS) Laboratory, University of Massachusetts Amherst

Github

Dynamic Legged Systems Lab, Italian Institute of Technology (IIT)

Github

Dynamic Robot Systems Group, University of Oxford

Github

ETH Zürich

ETH Robotics Club

Computational Robotics Lab

Robotic System Lab

Github

Hybrid Robotics Lab, UC Berkely

Github

LeCAR Lab, CMU

Github

Lunar Lab, Georgia Tech

Github

Neuro-Robotics Lab, Tohoku University

RAI Lab, KAIST

Github

RAI, Robotics and AI Institute

RcLab, Kookmin University

Robomechanics Lab, Carnegie Mellon University (CMU)

Github

Robotics Innovatory, SungKyunKwan University

Stanford Robotics Center

Stanford Robotics Club

Github

StochLab (Stochastic Robotics Lab), Indian Institute of Science (IISc)

Github

The Robotics Lab, IDSIA

Github

TRAIL, Trustworthy Robotics and AI Lab

HouseBots

Humanoid Guide

A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion

Berkeley Humanoid: A Research Platform for Learning-based Control

CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control

Deep Reinforcement Learning for Low-Cost Humanoid Robot Soccer Players: Dynamic Skills and Efficient Transfer

Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions

FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning

Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains

HiLo: Learning Whole-Body Human-like Locomotion with Motion Tracking Controller

HuB: Learning Extreme Humanoid Balance

HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

HumanPlus: Humanoid Shadowing and Imitation from Humans

Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs

Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion

Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning

Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation

Learning Humanoid Locomotion with Perceptive Internal Model

Learning hybrid locomotion skills—Learn to exploit residual actions and modulate model-based gait control

Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning

Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning

Learning to Walk and Fly with Adversarial Motion Priors

Learning Vision-Based Bipedal Locomotion for Challenging Terrain

Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal…

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation

Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain

Phase-based Nonlinear Model Predictive Control for Humanoid Walking Stabilization with Single and Double Support Time…

Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions

Real-World Humanoid Locomotion with Reinforcement Learning

TWIST: Teleoperated Whole-Body Imitation System

Whole-body simulation of realistic fruit fly locomotion with deep reinforcement learning

HITTER

Arxiv

Sonic AgiBot X2 Port

Cheetah

DFKI, German Research Center for Artificial Intelligence

Github-DFKI

Github-RIC

DRAIL: Dynamic Robotics and Artificial Intelligence Lab, Oregon State University

Github

HCRL: Human Centered Robotics Lab, University of Texas at Austin

Github

IHMC: Institute for Human and Machine Cognition, Florida University

Github

IIT: Italian Institute of Technology

iCub - ergoCub

Artificial and Mechanical Intelligence

Github

Humanoid Sensing and Perception

Github

JSK: Johou Systems Kougaku Lab, UTokyo

MEVITA

Github

K-Scale Labs

Github

LeCAR Lab, CMU

Github

Lunar Lab, Georgia Tech

Github

Peking University

EPIC: Embodied Perception and InteraCtion Lab

Github

Reinforcement Learning Lab

Github

RL Research Group, Institute for AI

Github

PAIR Lab

Github

PRIN: Principles of Robot Intelligence from Nature/Nurture Laboratory, NII

Robot Learning Lab, NAIST

Stanford Robotics Center

The Movement Lab

Github

University of California, Berkeley

BAIR: The Berkeley Artificial Intelligence Research Lab

Hybrid Robotics Lab, UC Berkely

Github

Berkeley Humanoid

Github

Berkeley Humanoid Lite

Github

University of Pennsylvania

DAIR: Dynamic Autonomy and Intelligent Robotics Lab

Github

GRASP Lab

Github

1X

Agibot

Agile Robots

Agility Robotics

Apptronik, spinout of HCRL

Ascento

Astribot

Boardwalk Robotics

Booster

Github

Boston Dynamics

Electric Altas

Disney Research, BDX Droids

EngineAI

Engineered Arts

Figure

Fourier

Fraunhofer IML: Institute for Material Flow and Logistics, evoBOT

Galbot, G1-Embodied Multimodal Large Model Robot

Hexagon, AEON

KEENON

LimX

Github

NEURA Robotics

NVIDIA GR00T

PAL Robotics

Kangaroo

Github

TALOS

Github - URDF - MJCF

ROBOTERA, spinoff of Tsinghua University

Sanctuary Cognitive Systems Corporation

Tesla

The Robot Studio

Tokyo Robotics

UBTECH Robotics

Unitree

XPENG