Bridge the Gap

Bridge the Gap:
Enhancing Quadruped Locomotion with Vertical Ground Perturbations

Maximilian Stasica^1* Arne Bick^1,2* Nico Bohlinger^2*

Omid Mohseni^1,3 Max Fritzsche⁴ Clemens Hübler⁴ Jan Peters² André Seyfarth¹

^*Equal contribution

¹Locomotion Laboratory, TU Darmstadt

²Intelligent Autonomous Systems, TU Darmstadt

³Measurement and Sensor Technology, TU Darmstadt

⁴Structural Mechanics and Design, TU Darmstadt

International Conference on Intelligent Robots and Systems (IROS) 2025

TLDR: Training and analysis of different quadruped gaits on a simulated oscillating bridge
to improve the robot's locomotion on a real oscillating bridge.

Overview

Placeholder

Acknowledgments

This work was funded by German Research Foundation (DFG) under the HUMVIB project (grant number: 446124066) and the INTENTION project (grant number: 506123304). This project was also partially funded by National Science Centre, Poland under the OPUS call in the Weave program UMO-2021/43/I/ST6/02711.

Furthermore, we sincerely thank the German Research Center for AI (DFKI), Research Department: Systems AI for Robot Learning, for lending us the Unitree Go2 quadruped.

Citation

@article{stasica2025bridge,
    title={Bridge the Gap: Enhancing Quadruped Locomotion with Vertical Ground Perturbations},
    author={Stasica, Maximilian and Bick, Arne and Bohlinger, Nico and Mohseni, Omid and Fritzsche, Max Johannes Alois and H{\"u}bler, Clemens and Peters, Jan and Seyfarth, Andr{\'e}},
    journal={International Conference on Intelligent Robots and Systems},
    year={2025}
}

This website was inspired by Kevin Zakka's and Brent Yi's and builds on Nico Bohlinger's.