6 citations · 10 across the 2 of their papers we have counts for
3 papers
cs.RO2025
Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition
Sangmin Kim, Hajun Kim, Gijeong Kim +2
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately…
cs.RO2025★ 4 cited
A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion
Min-Gyu Kim, Dongyun Kang, Hajun Kim +1
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrate…
cs.RO2025★ 6 cited
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients
Hajun Kim, Dongyun Kang, Min-Gyu Kim +2
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the…