- Bridging Perception and Control for Legged Locomotion and Navigation in . . .
This thesis presents a framework for bridging perception and control in legged robots, enabling them to robustly locomote and navigate in a wide range of challenging, "in the wild" environments
- 强化学习 四足Quadruped（三） - 知乎
作者在本文中提出了一个基于 ANYmal D 的agile navigation框架，分别设计了perception module, navigation module和locomotion module，完成四足机器人在特定环境下的跑酷（agile navigation），克服了地形理解，环境噪声和传感器漂移、被遮挡等问题。
- Awesome RL for Legged Locomotion - GitHub
Demonstrates a hierarchical framework that combines perception, navigation, and a specialized motion controller to achieve "parkour-like" agility Showcases ANYmal jumping over gaps, climbing obstacles, and traversing challenging structures
- Learning robust perceptive locomotion for quadrupedal robots in the wild
This severely limits locomotion speed, because the robot has to physically feel out the terrain before adapting its gait accordingly Here we present a robust and general solution to integrating exteroceptive and proprioceptive perception for legged locomotion
- legged-robot关于locomotion、Navigation任务主要文章速览 - 泪水下的笑靥 - 博客园
目前legged robot包括locomotion（怎么走）、navigation（往哪走）、人形机器人的whole body control以及基于机械臂的manipulation的任务。
- Learning agility and adaptive legged locomotion via curricular . . .
We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking controller that achieves powerful agility and adaptation for the legged robot
- legged-robot关于locomotion、Navigation任务主要文章速览-CSDN博客
At every high-level time step, the navigation policy receives the relative position of the final goal, the remaining time to accomplish the task, the robot's base velocity, orientation, and the latent tensor of the perception module
- Quadruped Robots: Bridging Mechanical Design, Control, and . . . - MDPI
Despite considerable progress, research and deployment involving quadruped robots still faces numerous challenges Complex mechanical structures, efficient motion control algorithms, reliable perception systems, and energy management are all critical issues that must be addressed
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