Learning Gait-conditioned Bipedal Locomotion with Motor …
In this paper, we propose a learning-based humanoid locomotion controller that can adapt to disturbance and uneven terrain. We leverage the advances in rapid adaptation for quadruped locomotion control, and expend them to the humanoid robots, resulting in a well-performed whole body locomotion policy, gait-conditioned RMA without any reference ...
Bipedal Locomotion - SpringerLink
2021年1月1日 · Fossil evidence indicates that bipedal locomotion likely emerged around four million years ago, again, during the Miocene period. There may have been an important split in lineage between what are now modern humans and chimpanzees, as it is hypothesized that our last common ancestor existed between four and eight million years ago, (DeSilva 2009 ).
Bipedalism | Evolution, Advantages & Disadvantages | Britannica
5 天之前 · Bipedalism, a major type of locomotion, involving movement on two feet. The order Primates possesses some degree of bipedal ability. All primates sit upright. Many stand upright without supporting their body weight by their arms, and …
An overview on bipedal gait control methods - Hu - 2023 - IET ...
2023年9月1日 · Kasaei et al. combined the analytical walking approach (the gait planner) and deep RL framework (proximal policy optimisation) and provided a modular framework for biped locomotion, which can generate fast and stable gait patterns.
Footprints reveal direct evidence of group behavior and locomotion …
2016年7月12日 · Bipedal locomotion was a key adaptation of the human lineage, enabling our ancestors to travel efficiently on the ground 1 and freeing the hands for the adoption of other uniquely human...
On Evolution and Development of Human Gait | SpringerLink
2022年1月23日 · This discovery sheds a new light on the evolution of bipedalism in humans, providing evidence—and for first time from a fully preserved fossil—that both human bipedal gait and ape suspensory behavior evolved from a newly suggested arboreal locomotion characteristic for the common ancestor from the middle Miocene .
Predictive simulations of running gait reveal a critical dynamic role ...
Here, we leverage optimal control methods to generate the first fully predictive, three-dimensional, muscle-driven simulations of locomotion in an extinct terrestrial vertebrate, the bipedal non-avian theropod dinosaur Coelophysis. Unexpectedly, our simulations involved pronounced lateroflexion movements of the tail.
Dynamic gait transition between bipedal and quadrupedal locomotion …
2015年9月28日 · In this paper, we propose a planning algorithm for bipedal and quadrupedal locomotion with intermediate transitions. The algorithm is based on the divergent component of motion for a linear time-variant inverted pendulum model with variable height and a flywheel.
Learning Gait-conditioned Bipedal Locomotion with Motor …
2023年12月8日 · We leverage the advances in rapid adaptation for quadruped locomotion control, and expend them to the humanoid robots, resulting in a well-performed whole body locomotion policy,...
Planar Bipedal Locomotion with Nonlinear Model Predictive …
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics Abstract: The ability to generate dynamic walking in real-time for bipedal robots with input constraints and underactuation has the potential to enable locomotion in dynamic, complex and unstructured environments.