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cs.RO2025
Reference Free Platform Adaptive Locomotion for Quadrupedal Robots using a Dynamics Conditioned Policy
David Rytz, Suyoung Choi, Wanming Yu +3
This article presents Platform Adaptive Locomotion (PAL), a unified control method for quadrupedal robots with different morphologies and dynamics. We leverage deep reinforcement l…
cs.RO2024
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…
cs.RO2023
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…