18 citations · 19 across the 8 of their papers we have counts for
3 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…