24 citations · 30 across the 5 of their papers we have counts for
Showing 2023Show all
2 papers · 1 filter
cs.RO2023★ 6 cited
Proprioceptive External Torque Learning for Floating Base Robot and its Applications to Humanoid Locomotion
Daegyu Lim, Myeong-Ju Kim, Junhyeok Cha +2
The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the…
cs.RO2023★ 24 cited
Torque-based Deep Reinforcement Learning for Task-and-Robot Agnostic Learning on Bipedal Robots Using Sim-to-Real Transfer
Donghyeon Kim, Glen Berseth, Mathew Schwartz +1
In this paper, we review the question of which action space is best suited for controlling a real biped robot in combination with Sim2Real training. Position control has been popul…