1 citations · 1 across the 5 of their papers we have counts for
5 papers
Real-time Multi-Plane Segmentation Based on GPU Accelerated High-Resolution 3D Voxel Mapping for Legged Robot Locomotion
Shun Niijima, Ryoichi Tsuzaki, Noriaki Takasugi +1
This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mappin…
Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions
Yu Ishihara, Noriaki Takasugi, Kotaro Kawakami +2
Reinforcement learning has become an essential algorithm for generating complex robotic behaviors. However, to learn such behaviors, it is necessary to design a reward function tha…
Robustifying Model-Based Locomotion by Zero-order Stochastic Nonlinear Model Predictive Control with Guard Saltation Matrix
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko +2
This paper presents a stochastic/robust nonlinear model predictive control (NMPC) to enhance the robustness of model-based legged locomotion against contact uncertainties. We integ…
Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control
Sotaro Katayama, Noriaki Takasugi, Mitsuhisa Kaneko +1
This paper presents a nonlinear model predictive control (NMPC) toward versatile motion generation for the telescopic-wheeled-legged robot Tachyon 3, the unique hardware structure…
Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3
Noriaki Takasugi, Masaya Kinoshita, Yasuhisa Kamikawa +4
To achieve safe legged locomotion, it is important to generate motion in real-time considering various constraints in robots and environments. In this study, we propose a lightweig…