136 citations · 178 across the 9 of their papers we have counts for
9 papers
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…
Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System
Junhyeok Ahn, Luis Sentis
Model-based reinforcement learning (MBRL) algorithms can attain significant sample efficiency but require an appropriate network structure to represent system dynamics. Current app…
Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model
Junhyeok Ahn, Jaemin Lee, Luis Sentis
In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous…
Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators
Junhyeok Ahn, Donghyun Kim, SeungHyeon Bang +2
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work…
Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control
D. Kim, S. Jorgensen, J. Lee +3
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based wa…