5 papers
PolyMorph: Learning Locomotion Policy for Cross-Embodiment Adaptation
Hyunsik Oh, Seunghun Jeon, Donghoon Youm +5
Reinforcement learning has enabled robust locomotion for legged robots, but learned policies are typically tied to a specific robot morphology and require additional engineering wh…
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…
Learning Vehicle Dynamics from Cropped Image Patches for Robot Navigation in Unpaved Outdoor Terrains
Jeong Hyun Lee, Jinhyeok Choi, Simo Ryu +3
In the realm of autonomous mobile robots, safe navigation through unpaved outdoor environments remains a challenging task. Due to the high-dimensional nature of sensor data, extrac…