7 papers
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…
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…
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study
Dongyun Kang, Gijeong Kim, JongHun Choe +2
Dynamic rotational maneuvers, such as front flips, inherently involve large angular momentum generation and intense impact forces, presenting major challenges for reinforcement lea…
A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion
Min-Gyu Kim, Dongyun Kang, Hajun Kim +1
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrate…
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…
Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots
JongHun Choe, Gijeong Kim, Hajun Kim +3
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve…