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of 38
pro vyhledávání: '"Bang, So Hyeon"'
Autor:
Bang, Seung Hyeon, Gonzalez, Carlos, Moore, Gabriel, Kang, Dong Ho, Seo, Mingyo, Sentis, Luis
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC enables users to
Externí odkaz:
http://arxiv.org/abs/2409.10015
This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal maneuvers. While MPC-based foot placement controllers have demonstrated
Externí odkaz:
http://arxiv.org/abs/2407.17683
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced significan
Externí odkaz:
http://arxiv.org/abs/2407.16811
Autor:
Seo, Mingyo, Han, Steve, Sim, Kyutae, Bang, Seung Hyeon, Gonzalez, Carlos, Sentis, Luis, Zhu, Yuke
We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for humanoids with a high degree of freedom presents substantial challenges. We
Externí odkaz:
http://arxiv.org/abs/2309.01952
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
Publikováno v:
In Nurse Education Today August 2024 139
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization problems give
Externí odkaz:
http://arxiv.org/abs/2009.05891
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Akademický článek
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