8 papers · 1 filter
RPC: A Modular Framework for Robot Planning, Control, and Deployment
Seung Hyeon Bang, Carlos Gonzalez, Gabriel Moore +3
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debuggi…
RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control
Seung Hyeon Bang, Carlos Arribalzaga Jové, Luis Sentis
This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal ma…
Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers
Seung Hyeon Bang, Jaemin Lee, Carlos Gonzalez +1
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assu…
Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation
Mingyo Seo, Steve Han, Kyutae Sim +4
We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for human…
Control and Evaluation of a Humanoid Robot with Rolling Contact Knees
Seung Hyeon Bang, Carlos Gonzalez, Junhyeok Ahn +2
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifa…
Data-Driven Safety Verification for Legged Robots
Junhyeok Ahn, Seung Hyeon Bang, Carlos Gonzalez +2
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear…