3 papers
cs.RO2022
Real time A* Adaptive Action Set Footstep Planning with Human Locomotion Energy Approximations Considering Angle Difference for Heuristic Function
Joon-Ha Kim
The problem of navigating a bipedal robot to a desired destination in various environments is very important. However, it is very difficult to solve the navigation problem in real…
cs.RO2022
Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
Lorenzo Amatucci, Joon-Ha Kim, Jemin Hwangbo +1
In this work, a non-gaited framework for legged system locomotion is presented. The approach decouples the gait sequence optimization by considering the problem as a decision-makin…
cs.RO2022
STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor
Yeeun Kim, Byeongho Yu, Eungchang Mason Lee +3
We propose a novel state estimator for legged robots, STEP, achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-sl…