1 citations · 1 across the 8 of their papers we have counts for
8 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…
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs
Sotaro Katayama, Yuta Koda, Norio Nagatsuka +1
Sim-to-real reinforcement learning (RL) for humanoid robots with high-gear ratio actuators remains challenging due to complex actuator dynamics and the absence of torque sensors. T…
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…
Extrinsic Calibration of Multiple LiDARs for a Mobile Robot based on Floor Plane And Object Segmentation
Shun Niijima, Atsushi Suzuki, Ryoichi Tsuzaki +1
Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction…
Development of a Compact Robust Passive Transformable Omni-Ball for Enhanced Step-Climbing and Vibration Reduction
Kazuo Hongo, Takashi Kito, Yasuhisa Kamikawa +2
This paper introduces the Passive Transformable Omni-Ball (PTOB), an advanced omnidirectional wheel engineered to enhance step-climbing performance, incorporate built-in actuators,…
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…