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cs.RO2022
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…
cs.RO2022
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…