From the 1 of 4 linked papers with an AI index.
4 papers
DELTA: Deformable Elevation-Based Local Terrain Attention Encoder for Sparse-Terrain Quadrupedal Locomotion
Sanghyun Park, Moonkyu Jung, Jemin Hwangbo
Stable quadrupedal locomotion on sparse terrain requires selecting state-relevant terrain evidence for precise foot placement. Model-based foothold planners provide precise foothol…
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4
The paper introduces a hierarchical whole-body control framework for quadrupedal robots with a 6‑DoF arm, using a Kinematic Normalizing Flow to generate partial reference motions a…
Learning Dynamic Pick-and-Place for a Legged Manipulator
Moonkyu Jung, Jiseong Lee, Zhengmao He +8
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while…
High-speed control and navigation for quadrupedal robots on complex and discrete terrain
Hyeongjun Kim, Hyunsik Oh, Jeongsoo Park +5
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nat…