Abstract: This paper presents an approach for the closed-loop control of a fully actuated biped robot that leverages its natural dynamics when walking. Rather than prescribing kinematic trajectories, ...

The next sections present a brief summary of some works related to the control of bipedal robots. These works focus on stabilization of bipedal posture and not on the gait cycle. 2.1. Dynamic posture ...

This project focuses on training a biped robot to walk in a straight line using the Deep Deterministic Policy Gradient (DDPG) reinforcement learning algorithm. The primary goal is to simulate ...

This project will aim to maintain the stability of a biped robot on a rotating platform, where a novel RL algorithm that perfectly controls the robot is proposed. The project will combine Model Free ...

Walking Style: Dynamic (fast, less stable, more human-like) or Static (slower, more stable, simpler to control)?Start with static walking. Size & Weight: Smaller robots are easier to manage, but ...

Compliant whole body motion control is a must both for physical interaction with humans and for autonomous manipulation. In particular, when considering robots within the direct surroundings of humans ...

Abstract: This paper presents an approach for the closed-loop control of a fully actuated biped robot that leverages its natural dynamics when walking. Rather than prescribing kinematic trajectories, ...