3 papers
cs.RO2026
OpenHEART: Opening Heterogeneous Articulated Objects with a Legged Manipulator
Seonghyeon Lim, Hyeonwoo Lee, Seunghyun Lee +2
Legged manipulators offer high mobility and versatile manipulation. However, robust interaction with heterogeneous articulated objects, such as doors, drawers, and cabinets, remain…
cs.RO2025
DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains
Seunghyun Lee, I Made Aswin Nahrendra, Dongkyu Lee +3
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or join…
cs.RO2024
TRIP: Terrain Traversability Mapping With Risk-Aware Prediction for Enhanced Online Quadrupedal Robot Navigation
Minho Oh, Byeongho Yu, I Made Aswin Nahrendra +8
Accurate traversability estimation using an online dense terrain map is crucial for safe navigation in challenging environments like construction and disaster areas. However, trave…