136 citations · 167 across the 14 of their papers we have counts for
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cs.RO2019★ 19 cited
Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model
Junhyeok Ahn, Jaemin Lee, Luis Sentis
In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous…
cs.RO2019★ 1 cited
Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces
Jaemin Lee, Efstathios Bakolas, Luis Sentis
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics…
cs.RO2019★ 136 cited
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…