3 citations · 4 across the 4 of their papers we have counts for
4 papers · 1 filter
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…
Attention-Based Neural-Augmented Kalman Filter for Legged Robot State Estimation
Seokju Lee, Kyung-Soo Kim
In this letter, we propose an Attention-Based Neural-Augmented Kalman Filter (AttenNKF) for state estimation in legged robots. Foot slip is a major source of estimation error: when…
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…
A Compact Optical Six-Axis Force/Torque Sensor for Legged Robots Using a Polymorphic Calibration Method
Hyun-Bin Kim, Keun-Ha Choi, Kyung-Soo Kim
This paper presents a novel design for a compact, lightweight 6-axis force/torque sensor intended for use in legged robots. The design promotes easy manufacturing and cost reductio…