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07/19/2023
Benchmarking Potential Based Rewards for Learning Humanoid Locomotion
The main challenge in developing effective reinforcement learning (RL) p...
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05/18/2023
Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control
We propose MIMOC: Motion Imitation from Model-Based Optimal Control. MIM...
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09/23/2022
Design of a Multimodal Fingertip Sensor for Dynamic Manipulation
We introduce a spherical fingertip sensor for dynamic manipulation. It i...
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09/23/2022
Towards Robust Autonomous Grasping with Reflexes Using High-Bandwidth Sensing and Actuation
Modern robotic manipulation systems fall short of human manipulation ski...
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08/09/2022
Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform
We present a proprioceptive teleoperation system that uses a reflexive g...
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07/01/2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
This work combines control barrier functions (CBFs) with a whole-body co...
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05/30/2022
Dynamic Walking with Footstep Adaptation on the MIT Humanoid via Linear Model Predictive Control
This paper proposes a model predictive control (MPC) framework for reali...
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11/26/2021
Rapid and Reliable Trajectory Planning Involving Omnidirectional Jumping of Quadruped Robots
Dynamic jumping with multi-legged robots poses a challenging problem in ...
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10/28/2021
Learning to Jump from Pixels
Today's robotic quadruped systems can robustly walk over a diverse range...
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10/12/2021
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
This work presents a two part framework for online planning and executio...
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10/06/2021
Real-time Optimal Landing Control of the MIT Mini Cheetah
Quadrupedal landing is a complex process involving large impacts, elabor...
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04/19/2021
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
Demonstrating acrobatic behavior of a humanoid robot such as flips and s...
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09/14/2019