Legged Robots

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Machine Learning for Robot Control

Articulated-Body Dynamics Network: Dynamics-Grounded Prior for Robot Learning

Recent work in reinforcement learning has shown that incorporating structural priors for articulated robots, such as link connectivity, into policy networks improves learning …

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DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control featured image
Legged Robots

DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control

We present a novel and minimalistic design of an aerial-terrestrial robot DASH: Ducted Aerial Spring Hopper. The goal is to enable both aerial and ground locomotion capabilities on …

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Legged Robotics Lab featured image
Legged Robots

Legged Robotics Lab

A research-oriented collection of code, papers, and resources for legged robotics and model- and learning-based control.

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