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cs.RO2026
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…
cs.RO2025
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…
cs.RO2025
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…