13 citations · 32 across the 15 of their papers we have counts for
5 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…