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