GRASP

Imperfect but useful physical models play a crucial role in planning and controlling robot locomotion and manipulation. However, as the field shifts toward complex real-world applications, model accuracy requirements are increasing while calibration data is becoming scarcer. Consequently, model inaccuracy or the sim2real gap often hinders the development of performant robotics algorithms. Frictional contact, the […]

By mirroring the success of biological systems, legged robots have the potential to be successful in almost every terrestrial environment. While legged machines have made significant advancements in the past 20 years, there still exists a considerable gap between what they can achieve and the abilities of animals. In this talk I’ll discuss some of […]