3 papers
cs.RO2025
Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots
JongHun Choe, Gijeong Kim, Hajun Kim +3
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve…
cs.RO2025
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study
Dongyun Kang, Gijeong Kim, JongHun Choe +2
Dynamic rotational maneuvers, such as front flips, inherently involve large angular momentum generation and intense impact forces, presenting major challenges for reinforcement lea…
cs.RO2020
Dynamic Humanoid Locomotion over Uneven Terrain With Streamlined Perception-Control Pipeline
Moonyoung Lee, Youngsun Kwon, Sebin Lee +8
Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses a…