2 papers
cs.RO2026
Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots
SeongWon Nam, Hyunyong Lee, Hansol Kang +5
This paper presents a real-time control-constrained Differential Dynamic Programming (DDP) framework for underactuated legged robots. To address the limitation of classical DDP in…
cs.RO2025
Corner-Grasp: Multi-Action Grasp Detection and Active Gripper Adaptation for Grasping in Cluttered Environments
Yeong Gwang Son, Seunghwan Um, Juyong Hong +2
Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remai…