/Research-Paper-Notes

This repo contains the notes for the papers I have read & understood and the topics I have studied

Research-Paper-Notes

This repo contains the notes for the papers I have read & understood and the topics I have studied

Papers:

  1. Convex_MPC: Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control [Paper]
  2. DribbleBot: Dynamic Legged Manipulation in the wild [Paper][Video][Code][Notes]

Notes:

Convex_MPC: Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control

Read the pdf for hand written notes

DribbleBot: Dynamic Legged Manipulation in the wild

  1. Algorithm:Uses PPO to train policy

  2. Hardware: Unitree Go1

  3. Simulation: Issac GYM

  4. Object Detection Module: YOLOv7 [Paper]

  5. Methedology and Control Architecture: image image

  6. Limitations:

    1. Slow turning response
    2. Visual perception sensitivity to lighting
    3. Imprecision at high speeds
    4. Lack of geometry awareness (like steep slopes and staircases)