218 citations · 398 across the 14 of their papers we have counts for
3 papers · 1 filter
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…