adversarial learning 1dynamics priors 1humanoid locomotion 1motion control 1perturbation resilience 1
From the 1 of 3 linked papers with an AI index.
3 papers
cs.RO2026
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
Seokju Lee, Jeongtae Lee, Jeonghyeok Lim +6
The paper introduces Adversarial Dynamics Priors (ADP), a method that uses adversarial training on dynamics features such as center‑of‑mass motion and contact forces to make humano…
cs.RO2025
Dual-MPC Footstep Planning for Robust Quadruped Locomotion
Byeong-Il Ham, Hyun-Bin Kim, Jeonguk Kang +2
In this paper, we propose a footstep planning strategy based on model predictive control (MPC) that enables robust regulation of body orientation against undesired body rotations b…
cs.RO2025
Parameter Optimization of Optical Six-Axis Force/Torque Sensor for Legged Robots
Hyun-Bin Kim, Byeong-Il Ham, Keun-Ha Choi +1
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-conta…