research
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10/03/2022
Control and Evaluation of a Humanoid Robot with Rolling Contact Knees
In this paper, we introduce the humanoid robot DRACO 3 by providing a hi...
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research
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02/24/2022
Data-Driven Safety Verification for Legged Robots
Planning safe motions for legged robots requires sophisticated safety ve...
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11/20/2020
Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System
Model-based reinforcement learning (MBRL) algorithms can attain signific...
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06/10/2019
Data Efficient and Safe Learning for Locomotion via Simplified Model
In this letter, we formulate a novel Markov Decision Process (MDP) for d...
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06/10/2019
Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators
This paper describes the control, and evaluation of a new human-scaled b...
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07/09/2018
