5 papers
Locomotion with Online Awareness of Dynamics for Precision Footholds
Kunzhao Ren, Zhishuo Zhu, Xiaobin Xiong
Unknown payloads alter robot dynamics and make precise contact execution difficult when foothold margins are small. We present LOAD, a perceptive locomotion framework that combines…
DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control
Ryan Gomes Paiva, Conrad Ho, Jiarong Kang +3
We present a novel and minimalistic design of an aerial-terrestrial robot DASH: Ducted Aerial Spring Hopper. The goal is to enable both aerial and ground locomotion capabilities on…
PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
Jiarong Kang, Kunzhao Ren, Tao Pang +1
Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamic…
Articulated-Body Dynamics Network: Dynamics-Grounded Prior for Robot Learning
Sangwoo Shin, Kunzhao Ren, Xiaobin Xiong +1
Recent work in reinforcement learning has shown that incorporating structural priors for articulated robots, such as link connectivity, into policy networks improves learning effic…
SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization
Hanwen Wang, Qiayuan Liao, Bike Zhang +3
Human motion provides rich priors for training general-purpose humanoid control policies, but raw demonstrations are often incompatible with a robot's kinematics and dynamics, limi…