Advancing Legged Robot Agility: from Video Imitation to GPU Acceleration
Abstract: Achieving human and animal-level agility has been a long-standing goal in robotics research. Recent advancements in numerical optimization and machine learning have pushed legged systems to greater capabilities than ever before, enabling black flips, parkour, and manipulation of heavy objects. Despite these exciting developments, this thesis identifies two key limitations of current legged robot [...]
Enhancing Bipedal Locomotion With Reaction Wheels
Abstract: Legged robot hardware has become more accessible in the last ten years. However, there is still a dearth of low-cost hardware platforms that are open-source and easy to build. With recent developments in accessible manufacturing methods, such as 3D printing, it has become possible to design and manufacture parts without relying on precision machining. [...]