3 papers
cs.RO2026
TOLEBI: Learning Fault-Tolerant Bipedal Locomotion via Online Status Estimation and Fallibility Rewards
Hokyun Lee, Woo-Jeong Baek, Junhyeok Cha +1
With the growing employment of learning algorithms in robotic applications, research on reinforcement learning for bipedal locomotion has become a central topic for humanoid roboti…
cs.RO2025
Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method
Junhyung Kim, Hokyun Lee, Jaeheung Park
Advancements in optimization solvers and computing power have led to growing interest in applying whole-body model predictive control (WB-MPC) to bipedal robots. However, the high…
cs.RO2024
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics
Junewhee Ahn, Jaesug Jung, Yisoo Lee +3
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of free…