VRA is a new acceleration interface that grounds discrete-time joint commands in voltage-constrained electric actuator physics to ensure realizability.
The mit humanoid robot: Design, motion planning, and control for acrobatic behaviors
2 Pith papers cite this work. Polarity classification is still indexing.
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MOBIUS is a multi-modal bipedal robot with hybrid reinforcement learning and force control plus an MIQCP planner that enables walking, crawling, climbing, and rolling on varied terrains.
citing papers explorer
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VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
VRA is a new acceleration interface that grounds discrete-time joint commands in voltage-constrained electric actuator physics to ensure realizability.
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MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
MOBIUS is a multi-modal bipedal robot with hybrid reinforcement learning and force control plus an MIQCP planner that enables walking, crawling, climbing, and rolling on varied terrains.