3 papers
cs.RO2025
Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition
Sangmin Kim, Hajun Kim, Gijeong Kim +2
To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately…
cs.RO2025
A Modular Residual Learning Framework to Enhance Model-Based Approach for Robust Locomotion
Min-Gyu Kim, Dongyun Kang, Hajun Kim +1
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrate…
cs.RO2025
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients
Hajun Kim, Dongyun Kang, Min-Gyu Kim +2
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the…