Controlling the Solo12 quadruped robot with deep reinforcement learning.

Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present an implementation of a robust end-to-end learning-based controller on the Solo12 quadruped. Our method is based on deep reinforcement learning of joint impedance references.

Benchmarking the HRP-2 Humanoid Robot During Locomotion.

In this paper we report results on benchmarking a HRP-2 humanoid robot. The humanoid robots of this serie are known to be very robust. They have been successfully used by several research groups for the design of new motion generation algorithms.

On the coordination of highly dynamic human movements: an extension of the Uncontrolled Manifold approach applied to precision jump in parkour.

The human body generally has more degrees of freedom than necessary for generating a given movement. According to the motor abundance principle, this redundancy is beneficial as it provides the central nervous system with flexibility and robustness for the generation of movements. Under the hypothesis of the Uncontrolled Manifold, the additional degrees of freedom are used to produce motor solutions by reducing the variability that affects the motion performance across repetitions.

Strategies of Parkour practitioners for executing soft precision landings.

Parkour landing techniques differ from performances of other sports as they are practiced in urban spaces with uncontrolled surfaces and drop heights. Due to the relatively young age of the sport, few studies have tried to understand how practitioners - called traceurs - succeed at performing these dynamic performances. In this paper, we focus on the precision landing technique, which has a fundamental role in most of the Parkour motions.

How do walkers behave when crossing the way of a mobile robot that replicates human interaction rules?

Previous studies showed the existence of implicit interaction rules shared by human walkers when crossing each other. Especially, each walker contributes to the collision avoidance task and the crossing order, as set at the beginning, is preserved along the interaction. This order determines the adaptation strategy: the first arrived increases his/her advance by slightly accelerating and changing his/her heading, whereas the second one slows down and moves in the opposite direction.

Spray-coated carbon nanotube carpets for creeping reduction of conducting polymer based artificial muscles.

During cyclic actuation, conducting polymer based artificial muscles are often creeping from the initial movement range. One of the likely reasons of such behaviour is unbalanced charging during conducting polymer oxidation and reduction. To improve the actuation reversibility and subsequently the long time performance of ionic actuators, we suggest using spray-coated carbon nanotube (CNT) carpets on the surface of the conducting polymer electrodes.

How do walkers avoid a mobile robot crossing their way?

Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision avoidance between a human and a robot during locomotion.

Hybrid PVDF/PVDF-graft-PEGMA Membranes for Improved Interface Strength and Lifetime of PEDOT:PSS/PVDF/Ionic Liquid Actuators.

Unlabelled: The exploitation of soft conducting polymer-based actuators suffers from two main shortcomings: their short life cycle and the reproducibility of the fabrication techniques. The short life cycle usually results from the delamination of the components due to stresses at the interface during the actuation. In this work, to achieve strong adhesion to poly(3,4- ethylenedioxythiophene) poly(styrenesulfonate) (

Pedot: PSS) electrodes, the wetting properties of the surface of a polyvinylidene fluoride (PVDF) membrane are improved using argon-plasma-induced surface polymerization of poly(ethylene glycol) monomethyl ether methacrylate (PEGMA).