13 citations · 31 across the 14 of their papers we have counts for
32 papers · 1 filter
Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries
Jee-eun Lee, Jaemin Lee, Tirthankar Bandyopadhyay +1
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamic…
Control and Evaluation of a Humanoid Robot with Rolling Contact Knees
Seung Hyeon Bang, Carlos Gonzalez, Junhyeok Ahn +2
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifa…
Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
Jaemin Lee, Mingyo Seo, Andrew Bylard +2
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must…
KC-TSS: An Algorithm for Heterogeneous Robot Teams Performing Resilient Target Search
Minkyu Kim, Ryan Gupta, Luis Sentis
This paper proposes KC-TSS: K-Clustered-Traveling Salesman Based Search, a failure resilient path planning algorithm for heterogeneous robot teams performing target search in human…
Data-Driven Safety Verification for Legged Robots
Junhyeok Ahn, Seung Hyeon Bang, Carlos Gonzalez +2
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear…
Information-Theoretic Based Target Search with Multiple Agents
Minkyu Kim, Ryan Gupta, Luis Sentis
This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for e…