no code implementations • 2 May 2022 • Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
We evaluate our approach on two versions of the real ANYmal quadruped robots and demonstrate that our method achieves a continuous blend of dynamic trot styles whilst being robust and reactive to external perturbations.
no code implementations • 9 Dec 2021 • Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner
This encourages disentanglement such that application of a drive signal to a single dimension of the latent state induces holistic plans synthesising a continuous variety of trot styles.
no code implementations • 3 Jul 2020 • Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner
In addition, kinodynamic constraints are often non-differentiable and difficult to implement in an optimisation approach.