186 citations · 186 across the 3 of their papers we have counts for
3 papers
cs.RO2025
Reinforcement Learning-based Robust Wall Climbing Locomotion Controller in Ferromagnetic Environment
Yong Um, Young-Ha Shin, Joon-Ha Kim +2
We present a reinforcement learning framework for quadrupedal wall-climbing locomotion that explicitly addresses uncertainty in magnetic foot adhesion. A physics-based adhesion mod…
cs.RO2023
Actuator-Constrained Reinforcement Learning for High-Speed Quadrupedal Locomotion
Young-Ha Shin, Tae-Gyu Song, Gwanghyeon Ji +1
This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical…
cs.RO2020★ 186 cited
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
Yanran Ding, Abhishek Pandala, Chuanzheng Li +2
This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D)…