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cs.RO2024
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
Fukang Liu, Zhaoyuan Gu, Yilin Cai +8
Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex c…
cs.RO2024
Safe Navigation of Bipedal Robots via Koopman Operator-Based Model Predictive Control
Jeonghwan Kim, Yunhai Han, Harish Ravichandar +1
Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation…