3 papers
cs.RO2026
GAIT: Legged Robot Proprioceptive State Estimation with Attention over Inertial-Leg Tokens
Young-Rang Seo, Hajun Kim, Sangmin Kim +2
In this paper, we propose a method that applies Inertial-Leg (IL) tokenization to an attention-based network for proprioceptive state estimation in legged robots. Unlike existing l…
cs.RO2025
Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition
Sangmin Kim, Hajun Kim, Gijeong Kim +2
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately…
cs.RO2025
EL-AGHF: Extended Lagrangian Affine Geometric Heat Flow
Sangmin Kim, Hae-Won Park
We propose a constrained Affine Geometric Heat Flow (AGHF) method that evolves so as to suppress the dynamics gaps associated with inadmissible control directions. AGHF provides a…