4 papers · 1 filter
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4
Loco-manipulation has recently shown promising capabilities; however, achieving high-precision control, managing the high-dimensional action space induced by many degrees of freedo…
Learning Dynamic Pick-and-Place for a Legged Manipulator
Moonkyu Jung, Jiseong Lee, Zhengmao He +8
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while…
High-speed control and navigation for quadrupedal robots on complex and discrete terrain
Hyeongjun Kim, Hyunsik Oh, Jeongsoo Park +5
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nat…
Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network
Donghoon Youm, Hyunsik Oh, Suyoung Choi +2
This paper introduces a novel proprioceptive state estimator for legged robots that combines model-based filters and deep neural networks. Recent studies have shown that neural net…