7 citations · 13 across the 5 of their papers we have counts for
9 papers
System Configuration and Navigation of a Guide Dog Robot: Toward Animal Guide Dog-Level Guiding Work
Hochul Hwang, Tim Xia, Ibrahima Keita +4
A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long…
Learning to Jump from Pixels
Gabriel B. Margolis, Tao Chen, Kartik Paigwar +4
Today's robotic quadruped systems can robustly walk over a diverse range of rough but continuous terrains, where the terrain elevation varies gradually. Locomotion on discontinuous…
Real-time Optimal Landing Control of the MIT Mini Cheetah
Se Hwan Jeon, Sangbae Kim, Donghyun Kim
Quadrupedal landing is a complex process involving large impacts, elaborate contact transitions, and is a crucial recovery behavior observed in many biological animals. This work p…
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones +1
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this p…
Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control
Donghyun Kim, Jared Di Carlo, Benjamin Katz +2
Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. I…
Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators
Junhyeok Ahn, Donghyun Kim, SeungHyeon Bang +2
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work…