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This software is based on the Control and Robotics Software (CRS), an advanced control software framework to support simulations and experiments in the fields of control and robotics. CRS is built on ...

Abstract: Quadruped robots have shown significant potential for navigating complex and hazardous environments, such as underground mines, where traditional wheeled or tracked systems have limitations.

In this paper, we propose NeRD (Neural Robot Dynamics), learned robot-specific dynamics models for predicting future states for articulated rigid bodies under contact constraints. NeRD uniquely ...

Abstract: To solve the problems of intermittent ground contact and limited dynamic terrain adaptability in heavy-duty hexapod robots. A reinforcement learning control framework based on hierarchical ...