2 papers
cs.RO2025
Reinforcement Learning-based Robust Wall Climbing Locomotion Controller in Ferromagnetic Environment
Yong Um, Young-Ha Shin, Joon-Ha Kim +2
We present a reinforcement learning framework for quadrupedal wall-climbing locomotion that explicitly addresses uncertainty in magnetic foot adhesion. A physics-based adhesion mod…
cs.RO2021
WALK-VIO: Walking-motion-Adaptive Leg Kinematic Constraint Visual-Inertial Odometry for Quadruped Robots
Hyunjun Lim, Byeongho Yu, Yeeun Kim +4
In this paper, WALK-VIO, a novel visual-inertial odometry (VIO) with walking-motion-adaptive leg kinematic constraints that change with body motion for localization of quadruped ro…