4 papers
MSC: Multi-Stage Caster-aware Control Framework with Uncertainty-Aware NMPC and RL-based Execution Layer
Jinho Park, Jeongtae Lee, Jeonghyeok Lim +2
Freely swiveling casters are widely adopted in industrial AMRs/SDVs for their mechanical simplicity and load capacity. However, caster misalignment during low-speed or high-curvatu…
ADP: Adversarial Dynamics Priors for Physically Grounded Humanoid Locomotion
Seokju Lee, Jeongtae Lee, Jeonghyeok Lim +6
In this paper, we propose Adversarial Dynamics Priors (ADP) for perturbation-resilient humanoid locomotion control. Existing motion prior-based methods induce natural motion styles…
Dual-MPC Footstep Planning for Robust Quadruped Locomotion
Byeong-Il Ham, Hyun-Bin Kim, Jeonguk Kang +2
In this paper, we propose a footstep planning strategy based on model predictive control (MPC) that enables robust regulation of body orientation against undesired body rotations b…
Parameter Optimization of Optical Six-Axis Force/Torque Sensor for Legged Robots
Hyun-Bin Kim, Byeong-Il Ham, Keun-Ha Choi +1
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-conta…