This repository contains papers, videos and other references in the field of legged robots.
- List of all ICRA 2024 paper: [Webpage]
- List of all IROS 2023 papers: [Google sheet] / [Github Repo]
- List of all ICRA 2023 papers: [Google sheet]
- ICRA 2024 Workshop on Co-design in Robotics: Theory, Practice, and Challenges: [Webpage]
- ICRA 2024 Advancements in Trajectory Optimization and Model Predictive Control for Legged Systems: [Webpage]
- List of Top Robotics Conferences and Publications: [List on Google Scholar Webpage]
- A few ASME Conferences and Journals:
- Journal of Mechanisms and Robots,
- Journal of Dynamics Systems, Measurement and Control, and
- Transaction on Mechatronics (IEEE/ASME) etc
- A few IEEE Conferences and Journals:
- International Conference on Robotics and Automation (ICRA),
- International Conference on Intelligent Robots and Systems (IROS),
- Robotics and Automation Letters (RAL),
- Transaction on Robotics (T-RO) etc.
- A few ASME Conferences and Journals:
- Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform [IEEE-RAS HUMANOIDS 2023] [Paper]
- Guardians as You Fall: Active Mode Transition for Safe Falling: Yikai Wang, Mengdi Xu, Guanya Shi, Ding Zhao: CMU [Paper][Website][Github]
- Barry: A High-Payload and Agile Quadruped Robot: Giorgio Valsecchi , Nikita Rudin , Lennart Nachtigall, Konrad Mayer, Fabian Tischhauser, and Marco Hutter: ETH Zurich; [RAL Nov 2023] [Paper]
- DribbleBot: Dynamic Legged Manipulation in the wild [Paper][Video][Code][Notes]
- DreamWaQ: Learning Robust Quadrupedal Locomotion with Implicit Terrain Imagination Via Deep Reinforcement Learning [Paper][Video][Website]
- Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion [Paper][Video][Website]
- OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors [Paper][Video][Website]
- Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments [Paper][Video][Website][Code]
- Legs As Manipulator: Pushing Quadrupedal Agility Beyond Locomotion [Paper][Video][Website]
- Force Control for Robust Quadruped Locomotion: A Linear Policy Approach [Paper: will be updated soon][Video][Website]
- Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning [Paper][Video]
- Deep Reinforcement Learning Based Personalized Locomotion Planning for Lower-Limb Exoskeletons [Paper][Video]
- Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation [Paper][Video]
- Sim-To-Real Transfer for Quadrupedal Locomotion Via Terrain Transformer [Paper]
- Agile and Versatile Robot Locomotion Via Kernel-Based Residual Learning [Paper][Video]
- Energy-Based Design Optimization of a Miniature Wave-Like Robot Inside Curved Compliant Tubes
- A Palm-Sized Omnidirectional Mobile Robot Driven by 2-DOF Torus Wheels
- Flipper-Style Locomotion through Strong Expanding Modular Robots
- Simplified Configuration Design of Anthropomorphic Hand Imitating Specific Human Hand Grasps
- Meta Reinforcement Learning for Optimal Design of Legged Robots [Paper]
- Advanced 2-DOF Counterbalance Mechanism Based on Gear Units and Springs to Minimize Required Torques of Robot Arm
- Permanent-Magnetically Amplified Robotic Gripper with Less Clamping Width Influence on Compensation Realized by a Stepless Width Adjustment Mechanism
- Design of a New Bio-Inspired Dual-Axis Compliant Micromanipulator with Millimeter Strokes
- Optimal Elastic Wing for Flapping-Wing Robots through Passive Morphing
- GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation: LiDAR Lab, GaTech [Paper][Video]
- Survey Paper: Optimization-Based Control for Dynamic Legged Robots
- Convex MPC: Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
- Feedback MPC: Feedback MPC for Torque-Controlled Legged Robots
- RF-MPC: Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
a. Github Code link: YanranDing/RF-MPC - Motion Imitation: Learning Agile Robotic Locomotion Skills by Imitating Animals
a. Github Code link: erwincoumans/motion_imitation - Non-Linear RF-MPC:Real-Time Constrained Nonlinear Model Predictive Control on SO(3) or Dynamic Legged Locomotion
- WBC+MPC: Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
- Contact-implicit DDP: Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints
- RPC on MIT Cheetah-3: Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization
- CACTO: CACTO: Continuous Actor-Critic with Trajectory Optimization -- Towards global optimality
- AMBER Lab, CalTech: Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion
- MIT Humanoid: Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
- Tencent Robotics: Lifelike Agility and Play on Quadrupedal Robots using Reinforcement Learning and Deep Pre-trained Models
[Paper coming soon][Website][Video]
- MIT, Design Principles: Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot
- UIUC, Panther: Design and experimental implementation of a quasi-direct-drive leg for optimized jumping
- UIUC, Tello Leg: Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots
- UIUC, Tello Leg: The dynamic effect of mechanical losses of transmissions on the equation of motion of legged robots
- AMI, IIT, Italy, egroCub Humanoid: Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting
- ETH Zurich, ANYmal: Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots
- Co-design(CACTO): Exploring the Limits of a Redundant Actuation System Through Co-Design
- Tachyon, Sony: Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic Actuators
- KAIST, Actuator Design: DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators
- KAIST, HOUND design: Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train
- Dual Motor Design (2021): Explosive Electric Actuator and Control for Legged Robots
- John Harry Bell, Master's Thesis, MIT (2018): A Two-Motor Actuator for Legged Robotics Applications
- Robotics and Multibody Mechanics Research Group (R&MM), Belgium (2017): Modeling and design of an energy-efficient dual-motor actuation unit with a planetary differential and holding brakes
- Alexandre Girard's paper, Hamburg, Germany IROS(2015): A Two-Speed Actuator for Robotics with Fast Seamless Gear Shifting
- Hoyul Lee's Paper, ASME/IEEE Transactions on mechatronics(2012): A New Actuator System Using Dual-Motors and a Planetary Gear
- Jung Jun Park' paper, ASME/IEEE Transactions on mechatronics(2010): A Serial-Type Dual Actuator Unit With Planetary Gear Train: Basic Design and Applications
- Boston Dynamics: List of Patents from Boston Dynamics
- Boston Dynamics: Screw Actuator for Legged Robots
- Boston Dynamics: WO2018112097 - TRANSMISSION WITH INTEGRATED OVERLOAD PROTECTION FOR A LEGGED ROBOT
- MIT Mini Cheetah, MIT
- Tiktok, Humanoid, Cornell University
- Stanford Doggo, Stanford University (Click here then scroll down for designs)
Trajectory Optimization
- Video Lecture: Introduction to Trajectory Optimization: Matthew Kelly
- Video Lecture: Underactuated Robotics, Trajectory Optimization I: Lec 11, Russ Tedrake
- Video Lecture: Underactuated Robotics, Trajectory Optimization II: Lec 12, Russ Tedrake
- Video Lecture: Optimization, Optimal Control, Trajectory Optimization, and Splines: Jesus Tordesillas
- Book: Practical Methods for Optimal control and estimation using non-linear programming, John T. Betts
- Github Repos: Matthew Kelly's TrajOpt Repo
- Github Repos: MindtPy Library Page: MINLP solver
- Tutorial Paper: An Introduction to Trajectory Optimization: How to do your own direct collocation, Matthew Kelly
- Linear Quadratic Regulator (LQR): Basics/Overview Derivation
- Deep RL Bootcamp
- Reinforcement Learning: David Silver
- CS-285: Deep Reinforcement Learning, UC Berkeley
- Spinning up*: It's a blog but really useful
- Kinematics of Mechanisms and Machines: NPTEL, IIT KGP
- Bond Graph Modeling: NPTEL
- Gear Strength Theory: NPTEL
- Friction-Model-for-Spur-Gear-transmission-efficiency: Review by Tsuneji Yada
- DDP: A good read for DDP
- Policy Gradient Algorithms: A good read for Policy Gradient Algos
- Reinforcement Learning Resources: A list of resources for studying Reinforcement Learning
- How to read Research Papers?
- How to read a research paper by Andrew NG: Video / Notes
- How to Read a Paper by S. Keshav: PDF
- How to read a paper: LinkedIn Post
- Usefull Resources by Ness B Shroff, on PhD and writing papers: Webpage
- How to organize Reasearch Papers?
- How to find, read and organize papers by Maya Gosztyla: Article
- Steven LaValle: Motivating story of Steven LaValle, who gave the RRT algorithm.
- Shuji Nakamura: Invention of Blue LED: Documentary about invention of blue LED.
- List of usefull resources: Aditya Mehrotra, MIT D-lab
- StePhane Caron
- Usefull Resources: Xiaobin Xiong
- InstantID : Merges your picture with text description and an optional pose photo
- Perplexity.ai : A replacement for ChatGPT. It is real-time and it continuously searches the internet.
- Text to Image Playground: COnvert text to image with free credits addition.
-
loco-3d/crocoddyl: Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
-
Pinocchio: Efficient and Versatile Rigid Body Dynamics Algorithms
- Shishir N Y, Stochastic Robotics Lab, RBCCPS, IISc Bengaluru [Personal Website][Lab website]
- Sangbae Kim, Biomimetics Robotics Lab, MIT [Lab Website]
- Pulkit Agarwal, Improbable AI Lab, MIT [Personal Website]
- Deepak Pathak, CMU [Personal Website]
- Zac Manchester, Robotic Exploration Group, CMU [Personal Webpage][Lab Website]
- Ye Zhao, LIDAR lab, Georgia Tech [Personal Website][Lab Website]
- Sehoon Ha, Georgia Tech [Personal Website]
- Quan Nguyen, Dynamic Robotics and Control Laboratory, University of South California (USC) [Personal Webpage][Lab Website]
- Pranav Bhounsule, Robotics and Motion Laboratory, University of Illinois Chicago [Personal Webpage][Lab Website]
- Joao Ramos, Robo Design Lab, University of Illinois Urbana-Champaign (UIUC) [Lab Website]
- Ayonga Hereid, Cyber-Physical and Robotics Lab, Ohio State University [Personal Webpage][Lab Webpage]
- Koushil Sreenath, Hybrid Robotics, University of South California, Berkeley (USC, Berkeley) [Personal Webpage][Lab Website]
- Jitendra Malik, EECS, University of California at Berkeley [Personal Webpage]
- Yanran Ding, Robotics Department, University of Michigan [Personal Website]
- Xiaobin Xiong, UW WELL Lab, University of Wisconsin-Madison [Personal Website][Lab Website]
- Marco Hutter, Robotic Systems Lab, ETH Zurich, Switzerland [Lab Website]
- Serena Ivaldi, Research Scientist, INRIA, France [Personal Website]
- Oliver Strasse, French National Centre for Scientific Research, France [Personal Website]
- Carlos Mastalli, Heriot-Watt University, Edinburgh, UK [Personal Website]
- Hae-Won Park, DRDC Lab, KAIST [Lab Website]
- Jemin Hwangbo, RaiLab, KAIST [Lab Website]
- Sony Quadruped Research Website
- Ideaforge, Drone manufacturing company [Website]
- Ati Motors, Industrial Mobile robots company [Website]
- Motors
- TQ-Motors: Used in Raibo Quadruped
- Halodi Motors: Used in Hound quadruped
- Drivers
- Mjbots: Moteus-n1, Moteus-r4.xx
It also provide several other accesories for legged robots. It is like a one stop shop.
- Mjbots: Moteus-n1, Moteus-r4.xx