https://mr-tooth.github.io/tags/sim-to-real/Sim-to-RealHugoBlox Kit (https://hugoblox.com)en-usTue, 01 Apr 2025 00:00:00 +0000https://mr-tooth.github.io/media/icon_hu_1c0e9cb08cfb822a.pnghttps://mr-tooth.github.io/tags/sim-to-real/https://mr-tooth.github.io/projects/multimodal-legged-robot/Tue, 01 Apr 2025 00:00:00 +0000https://mr-tooth.github.io/projects/multimodal-legged-robot/<p>This project studies heterogeneous reconfiguration and multimodal locomotion for biomimetic legged robots.</p> <p>My work focuses on multimodal control algorithm development. I expanded the command space for multimodal motion, designed implicit state estimation with a variational autoencoder, trained reinforcement-learning policies for multimodal locomotion, and supported sim-to-real deployment.</p> <p>The current capability targets complex-terrain walking, fall recovery, quadruped crawling, vehicle riding and separation, and other mode transitions on legged robot platforms.</p>