2 papers
cs.RO2024
Friction-Aware Safety Locomotion for Wheeled-legged Robots using Vision Language Models and Reinforcement Learning
Bo Peng, Donghoon Baek, Qijie Wang +1
Controlling Wheeled-legged robots is challenging especially on slippery surfaces due to their dependence on continuous ground contact. Unlike quadrupeds or bipeds, which can levera…
cs.RO2023
Online Learning-Based Inertial Parameter Identification of Unknown Object for Model-Based Control of Wheeled Humanoids
Donghoon Baek, Bo Peng, Saurabh Gupta +1
Identifying the dynamic properties of manipulated objects is essential for safe and accurate robot control. Most methods rely on low noise force torque sensors, long exciting signa…