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Legged-Robots: Introduction

This repository contains papers, videos and other references in the field of legged robots.

Robotics conference paper lists

1. List of all ICRA 2024 paper: [Webpage]
2. List of all IROS 2023 papers: [Google sheet] / [Github Repo]
3. List of all ICRA 2023 papers: [Google sheet]

:page_with_curl: Papers

:robot: ICRA 2023

Learning for locomotion

1. DribbleBot: Dynamic Legged Manipulation in the wild [Paper][Video][Code][Notes]
2. Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion [Paper][Video][Website]
3. OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors [Paper][Video][Website]
4. Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments [Paper][Video][Website][Code]
5. Legs As Manipulator: Pushing Quadrupedal Agility Beyond Locomotion [Paper][Video][Website]
6. Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning [Paper][Video]
7. Deep Reinforcement Learning Based Personalized Locomotion Planning for Lower-Limb Exoskeletons [Paper][Video]
8. Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation [Paper][Video]
9. Sim-To-Real Transfer for Quadrupedal Locomotion Via Terrain Transformer [Paper]
10. Agile and Versatile Robot Locomotion Via Kernel-Based Residual Learning [Paper][Video]

:joystick: Legged Robot Control:

Optimization Based control for legged robots:

1. Survey Paper: Optimization-Based Control for Dynamic Legged Robots [Paper]
2. Convex MPC for Quadruped walking: Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control [Paper]
3. Feedback MPC: Feedback MPC for Torque-Controlled Legged Robots [Paper]
4. RF-MPC: Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds [Paper] [Github]
5. Motion Imitation: Learning Agile Robotic Locomotion Skills by Imitating Animals [Paper] [Github]
6. Non-Linear RF-MPC: Real-Time Constrained Nonlinear Model Predictive Control on SO(3) or Dynamic Legged Locomotion [Paper]
7. WBC+MPC: Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control [Paper]

Quadruped Learning Based locomotion:

1. RMA: RMA: Rapid Motor Adaptation for Legged Robots [Paper]
2. Walk These Ways: Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior [Paper]
3. DreamWaQ: DreamWaQ: Learning Robust Quadrupedal Locomotion with Implicit Terrain Imagination Via Deep Reinforcement Learning [Paper][Video][Website]
4. HIMloco: Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response [Paper]
5. Tencent Robotics: Lifelike Agility and Play on Quadrupedal Robots using Reinforcement Learning and Deep Pre-trained Models [Paper][Website][Video]
6. Linear Policy: Force Control for Robust Quadruped Locomotion: A Linear Policy Approach [Paper][Video][Website]
7. PIP-Loco: Pip-Loco: A propioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion [Paper]

Application of Learning-based locomotion on Quadrupeds:

1. DribbleBot: DribbleBot: Dynamic Legged Manipulation in the wild [Paper][Video][Code][Notes]
2. Legs As Manipulator: Pushing Quadrupedal Agility Beyond Locomotion [Paper][Video][Website]

Humanoids Learning based locomotion:

1. Bi-Level Motion Imitation for Humanoid Robots [Paper]

:hammer_and_wrench: Legged Robot Mechanical Design

:page_facing_up: Design Principles for legged robots:

1. MIT, Design Principles: Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot [Paper]

:dog: Quadruped Robot Design Papers:

1. MIT Cheetah-3: MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot [Paper]
2. MIT Mini Cheetah: Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control [Paper] [Blog]
3. MIT Super Mini-Cheetah: The MIT Super Mini Cheetah: A small, low-cost quadrupedal robot for dynamic locomotion [Paper]
4. ANYmal Robot: ANYmal - A Highly Mobile and Dynamic Quadrupedal Robot [Paper]
5. 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 [Paper]
6. Barry Robot: Barry: A High-Payload and Agile Quadruped Robot [Paper]
7. UIUC, Panther: Design and experimental implementation of a quasi-direct-drive leg for optimized jumping [Paper]
8. Stanford Doggo: Stanford Doggo, an open source quasi-direct drive quadruped [Paper] [Github]
9. Solo Robot: An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research [Paper]
10. MiniTaur: Design Principles for a Family of Direct-Drive Legged Robots [Paper]
11. Stoch, IISc: Design, Development and Experimental Realization of A Quadrupedal Research Platform: Stoch [Paper]
12. Tachyon, Sony: Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic Actuators [Paper]
13. Raibo Robot, KAIST: RaiBo: A versatile robo-dog that runs through a sandy beach at 3 meters per second [News-Article] [Video]

:robot: Humanoid Robot Design:

1. Berkely Humanoid: Berkeley Humanoid: A Research Platform for Learning-based Control [Paper]
2. MIT Humanoid: Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform [Paper]
3. UIUC, Tello Leg: Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots [Paper]
4. UIUC, Tello Leg: The dynamic effect of mechanical losses of transmissions on the equation of motion of legged robots [Paper]
5. AMI, IIT, Italy, egroCub Humanoid: Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting [Paper]
6. Tiktok, Humanoid, Cornell University: [Website]

:joystick: :hammer_and_wrench: Co-Design Optimization:

1. Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots [Paper]
2. Co-design(CACTO): Exploring the Limits of a Redundant Actuation System Through Co-Design [Paper]
3. Meta Reinforcement Learning for Optimal Design of Legged Robots [Paper]

:electron: Electric motor based Actuator Designs for Legged Robots:

1. KAIST, Actuator Design: DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators [Paper]
2. Dual Motor Design (2021): Explosive Electric Actuator and Control for Legged Robots [Paper]
3. John Harry Bell, Master's Thesis, MIT (2018): A Two-Motor Actuator for Legged Robotics Applications [Thesis]
4. 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 [Paper]
5. Alexandre Girard's paper, Hamburg, Germany IROS(2015): A Two-Speed Actuator for Robotics with Fast Seamless Gear Shifting [Paper]
6. Hoyul Lee's Paper, ASME/IEEE Transactions on mechatronics(2012): A New Actuator System Using Dual-Motors and a Planetary Gear [Paper]
7. Jung Jun Park' paper, ASME/IEEE Transactions on mechatronics(2010): A Serial-Type Dual Actuator Unit With Planetary Gear Train: Basic Design and Applications [Paper]

Patents

1. Boston Dynamics: List of Patents from Boston Dynamics
2. Boston Dynamics: Screw Actuator for Legged Robots
3. Boston Dynamics: WO2018112097 - TRANSMISSION WITH INTEGRATED OVERLOAD PROTECTION FOR A LEGGED ROBOT

Robotics Workshops Websites and video links

1. ICRA 2024 Workshop on Co-design in Robotics: Theory, Practice, and Challenges: [Webpage]
2. ICRA 2024 Advancements in Trajectory Optimization and Model Predictive Control for Legged Systems: [Webpage]

Video Lectures:

Robotics and Controls:

1. Robotics Fall 2023, by Pranav Bhounsule: [Videos][Notes]

Topics in Mathematics

1. MIT 18.06 Linear Algebra, Spring 2005, MITOCW: Gilbert Strang

Optimization

1. Course: Numerical Optimization, (NPTEL): Shirish Sevade

Trajectory Optimization

1. Video Lecture: Introduction to Trajectory Optimization: Matthew Kelly
2. Video Lecture: Underactuated Robotics, Trajectory Optimization I: Lec 11, Russ Tedrake
3. Video Lecture: Underactuated Robotics, Trajectory Optimization II: Lec 12, Russ Tedrake
4. Video Lecture: Optimization, Optimal Control, Trajectory Optimization, and Splines: Jesus Tordesillas
5. Book: Practical Methods for Optimal control and estimation using non-linear programming, John T. Betts
6. Github Repos: Matthew Kelly's TrajOpt Repo
7. Github Repos: MindtPy Library Page: MINLP solver
8. Tutorial Paper: An Introduction to Trajectory Optimization: How to do your own direct collocation, Matthew Kelly

Basics of Control systems

1. Linear Quadratic Regulator (LQR): Basics/Overview Derivation

Reinforcement Learning

1. Deep RL Bootcamp
2. Reinforcement Learning: David Silver
3. CS-285: Deep Reinforcement Learning, UC Berkeley
4. Spinning up*: It's a blog but really useful

ROS

1. ROS Wiki Tutorials: Muhammad Luqman

Mechanical Design and Theory

1. Kinematics of Mechanisms and Machines: NPTEL, IIT KGP
   1. Lec-37: Gear Kinematics
   2. Lec-38: Gear Trains I
   3. Lec-39: Gear Trains II
   4. Lec-40: Gear Trains III
2. Bond Graph Modeling: NPTEL
3. Gear Strength Theory: NPTEL
4. Friction-Model-for-Spur-Gear-transmission-efficiency: Review by Tsuneji Yada

Miscellaneous:

1. List-of-Science-and-Math-courses

Usefull Books:

1. Statics and Dynamics: Andy Ruina

Useful Tools:

Mathematics:

1. Lean: Programming Language for Theorem prover [Link]
   i. Tutorials: Natural Number Game [Link]

Useful articles:

Software installations:

1. Installing Anaconda on Ubuntu 22.04
2. Installing Anaconda on Ubuntu 18.04

Technical topics:

1. DDP: A good read for DDP
2. Policy Gradient Algorithms: A good read for Policy Gradient Algos
3. Reinforcement Learning Resources: A list of resources for studying Reinforcement Learning
4. What are Diffusion Models?

Study:

1. 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
2. How to organize Reasearch Papers?
   • How to find, read and organize papers by Maya Gosztyla: Article

Know your scientist:

1. Steven LaValle: Motivating story of Steven LaValle, who gave the RRT algorithm.
2. Shuji Nakamura: Invention of Blue LED: Documentary about invention of blue LED.

Website:

1. List of usefull resources: Aditya Mehrotra, MIT D-lab
2. StePhane Caron
3. Usefull Resources: Xiaobin Xiong

Productivity Articles: (Don't get sucked too much into them)

1. HBR: 5 Mental Mistakes That Kill Your Productivity by Alice Boyes

Cool AI tools:

1. InstantID : Merges your picture with text description and an optional pose photo
2. Perplexity.ai : A replacement for ChatGPT. It is real-time and it continuously searches the internet.
3. Text to Image Playground: COnvert text to image with free credits addition.

Useful GitHub Repositories:

1. 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

2. Pinocchio: Efficient and Versatile Rigid Body Dynamics Algorithms

List of Robotics Conferences and Journals:

1. List of Top Robotics Conferences and Publications: [List on Google Scholar Webpage]
   1. A few ASME Conferences and Journals:
      1. Journal of Mechanisms and Robots,
      2. Journal of Dynamics Systems, Measurement and Control, and
      3. Transaction on Mechatronics (IEEE/ASME) etc
   2. A few IEEE Conferences and Journals:
      1. International Conference on Robotics and Automation (ICRA),
      2. International Conference on Intelligent Robots and Systems (IROS),
      3. Robotics and Automation Letters (RAL),
      4. Transaction on Robotics (T-RO) etc.
2. IEEE publication recommender: [Link]

Professors and Labs working in legged robotics

India

• Shishir N Y, Stochastic Robotics Lab, RBCCPS, IISc Bengaluru [Personal Website][Lab website]
• Mangal Kothari, IIT Kanpur: [Homepage]

USA

• 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]

Europe

• 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]

South Korea

• Hae-Won Park, DRDC Lab, KAIST [Lab Website]
• Jemin Hwangbo, RaiLab, KAIST [Lab Website]

Other Labs

• Sony Quadruped Research Website

Robotics Companies

India

• Ideaforge, Drone manufacturing company [Website]
• Ati Motors, Industrial Mobile robots company [Website]

Accesories for Legged robots:

1. Motors
   1. TQ-Motors: Used in Raibo Quadruped
   2. Halodi Motors: Used in Hound quadruped
2. Drivers
   1. Mjbots: Moteus-n1, Moteus-r4.xx
      It also provide several other accesories for legged robots. It is like a one stop shop.