I borrowed an Unitree go1 robot! I'm implenting "learing for leged locomotion"!

Yidan Lu(鲁一丹)
Last updated on Jun 21, 2024
Image credit: Unsplash

Model-based Optimization-Based Control

Exp 1: Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization

  • Planning: foot flight time foot landing position
  • Constraints: kinematics constraints Friction constraints Contact constraints
  • Cost Function: Distance to goal

Exp 2: Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control

  • Planning: Ground reaction force
  • Constraints: kinematics constraints Friction constraints Contact constraints
  • Cost Function: Distance to the desired state

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Yidan Lu(鲁一丹)
Yidan Lu(鲁一丹)
MPhil

My research interests include distributed robotics, embedded software and deep learning.