218 citations · 398 across the 14 of their papers we have counts for
14 papers
Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface
Shifan Zhu, Zhipeng Tang, Michael Yang +2
Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic beh…
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…
Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control
D. Kim, S. Jorgensen, J. Lee +3
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based wa…
Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles
Junhyeok Ahn, Orion Campbell, Donghyun Kim +1
We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and th…
Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints
Donghyun Kim, Jaemin Lee, Orion Campbell +2
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algo…
Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators
Donghyun Kim, Junhyeok Ahn, Orion Campbell +2
We design, build, and thoroughly test a new type of actuator dubbed viscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAs excel in the following five critical…
Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body Controller
Donghyun Kim, Jaemin Lee, Luis Sentis
We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion contro…
Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems
Steven Jens Jorgensen, Orion Campbell, Travis Llado +3
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control p…
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking
Donghyun Kim, Ye Zhao, Gray Thomas +1
In this paper we present advancements in control and trajectory generation for agile behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control (WBOSC), d…