2 papers
eess.SY2025
Variable-Impedance Muscle Coordination under Slow-Rate Control Frequencies and Limited Observation Conditions Evaluated through Legged Locomotion
Hidaka Asai, Tomoyuki Noda, Jun Morimoto
Human motor control remains agile and robust despite limited sensory information for feedback, a property attributed to the body's ability to perform morphological computation thro…
cs.RO2024
Hierarchical Learning Framework for Whole-Body Model Predictive Control of a Real Humanoid Robot
Koji Ishihara, Hiroaki Gomi, Jun Morimoto
The simulation-to-real gap problem and the high computational burden of whole-body Model Predictive Control (whole-body MPC) continue to present challenges in generating a wide var…