Zobrazeno 1 - 10
of 13
pro vyhledávání: '"Junhyeok Ahn"'
Publikováno v:
Frontiers in Robotics and AI, Vol 10 (2023)
In this paper, we introduce a new teen-sized humanoid platform dubbed DRACO 3, custom-built by Apptronik and altered for practical use by the Human Centered Robotics Laboratory at The University of Texas at Austin. The form factor of DRACO 3 is such
Externí odkaz:
https://doaj.org/article/d67661d60eac4ff8b4c43cc0cef324f3
Publikováno v:
Frontiers in Robotics and AI, Vol 8 (2022)
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://doaj.org/article/7c3d5107ae364231900579c889380471
Publikováno v:
Frontiers in Robotics and AI, Vol 8 (2021)
We propose a locomotion framework for bipedal robots consisting of a new motion planning method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole-body control method, dubbed implicit hierarchical whole-body controller (
Externí odkaz:
https://doaj.org/article/1073a5861f01477693eb0de1b34f4c1a
Publikováno v:
2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids).
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::49bcee8e9e8f7b84d64142249c5675f2
https://doi.org/10.1109/humanoids53995.2022.10000221
https://doi.org/10.1109/humanoids53995.2022.10000221
Publikováno v:
IEEE Robotics and Automation Letters. 5:4376-4383
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:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c998710a87bb57586f4bc03b1eb35536
https://doi.org/10.1109/lra.2020.2990743
https://doi.org/10.1109/lra.2020.2990743
Publikováno v:
Frontiers in Robotics and AI, Vol 8 (2021)
Frontiers in Robotics and AI
Frontiers in Robotics and AI
We propose a locomotion framework for bipedal robots consisting of a new motion planning method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole-body control method, dubbed implicit hierarchical whole-body controller (
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6300eb650b5ff6a6ce0facdde043a982
https://www.frontiersin.org/articles/10.3389/frobt.2021.712239/full
https://www.frontiersin.org/articles/10.3389/frobt.2021.712239/full
Publikováno v:
IEEE/ASME Transactions on Mechatronics. 23:2704-2714
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 resista
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::8d2fe66fa51e278cb5f919bf5cc59014
https://doi.org/10.1109/tmech.2018.2872176
https://doi.org/10.1109/tmech.2018.2872176
Publikováno v:
Humanoids
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:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9af7a2a42106443e5ffde443cee67fcc
http://arxiv.org/abs/1906.03811
http://arxiv.org/abs/1906.03811
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based walking controllers has been widely utilized in various humanoid robots.
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b0fd34798ad6b9cbaef1c29b0d355c84
http://arxiv.org/abs/1901.08100
http://arxiv.org/abs/1901.08100