Zobrazeno 1 - 10
of 24
pro vyhledávání: '"Ahn, Junhyeok"'
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 artifacts to provide a high range of hip, knee and ankle motion. Its versati
Externí odkaz:
http://arxiv.org/abs/2210.00961
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 and high-dimensional nature of these systems' dynamics. In this lette
Externí odkaz:
http://arxiv.org/abs/2202.12399
Autor:
Ahn, Junhyeok, Sentis, Luis
Model-based reinforcement learning (MBRL) algorithms can attain significant sample efficiency but require an appropriate network structure to represent system dynamics. Current approaches include white-box modeling using analytic parameterizations an
Externí odkaz:
http://arxiv.org/abs/2011.10605
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design embodying a
Externí odkaz:
http://arxiv.org/abs/1906.03811
In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous studies of biped locomotion, we relied on a low-dimensional robot mode
Externí odkaz:
http://arxiv.org/abs/1906.03812
We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both simultaneously. Thr
Externí odkaz:
http://arxiv.org/abs/1807.03415
We design, build, and thoroughly test a new type of actuator dubbed viscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAs excel in the following five critical axes of performance: energy efficiency, torque density, impact resiste
Externí odkaz:
http://arxiv.org/abs/1711.01649
Autor:
Jorgensen, Steven Jens, Campbell, Orion, Llado, Travis, Kim, Donghyun, Ahn, Junhyeok, Sentis, Luis
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two scenarios. The fir
Externí odkaz:
http://arxiv.org/abs/1701.03839
Autor:
Ahn, Junhyeok, 0000-0002-7934-6543
While studies on humanoid robots have matured in recent years, deploying a practical and versatile humanoid in real life remains a challenge. This challenge comes from the multidisciplinary nature of the field; indeed, elaborate actuation technologie
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ad26ca4bc87de4c8f5642b4049124db0
Publikováno v:
Frontiers in Robotics and AI, Vol 8 (2022)
Frontiers in Robotics and AI
Frontiers in Robotics and AI
This paper proposes an online gain adaptation approach to enhance the robustness of whole-body control (WBC) framework for legged robots under unknown external force disturbances. Without properly accounting for external forces, the closed-loop contr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::42ba7d49656a01d991810eb4a1fda2d9
https://www.frontiersin.org/articles/10.3389/frobt.2021.788902/full
https://www.frontiersin.org/articles/10.3389/frobt.2021.788902/full
