28 citations · 68 across the 9 of their papers we have counts for
4 papers · 1 filter
Dynamic Policy Learning for Legged Robot with Simplified Model Pretraining and Model-Homotopy-Inspired Transfer
Dongyun Kang, Min-Gyu Kim, Tae-Gyu Song +3
Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing…
Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing
Ylenia Nisticò, Hajun Kim, João Carlos Virgolino Soares +3
This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The pro…
PPF: Pre-training and Preservative Fine-tuning of Humanoid Locomotion via Model-Assumption-based Regularization
Hyunyoung Jung, Zhaoyuan Gu, Ye Zhao +2
Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In t…
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…