3 papers
cs.RO2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
Sotaro Katayama, Yuta Koda, Norio Nagatsuka +1
Sim-to-real reinforcement learning (RL) for humanoid robots with high-gear ratio actuators remains challenging due to complex actuator dynamics and the absence of torque sensors. T…
cs.RO2024
Development of Bidirectional Series Elastic Actuator with Torsion Coil Spring and Implementation to the Legged Robot
Yuta Koda, Hiroshi Osawa, Norio Nagatsuka +3
Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability o…
cs.RO2024
Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko +2
This paper presents a stochastic/robust nonlinear model predictive control (NMPC) to enhance the robustness of model-based legged locomotion against contact uncertainties. We integ…