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pro vyhledávání: '"Lee, Jaemin"'
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots confront unavoid
Externí odkaz:
http://arxiv.org/abs/2409.10274
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
This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation column trays. Leveraging quadruped robots equipped with roller arms, and
Externí odkaz:
http://arxiv.org/abs/2404.10938
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots while pres
Externí odkaz:
http://arxiv.org/abs/2312.08689
This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including robots. We propose a novel data-driven method to derive CBFs from these
Externí odkaz:
http://arxiv.org/abs/2312.07786
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In this study
Externí odkaz:
http://arxiv.org/abs/2312.07778
In general, deep learning-based video frame interpolation (VFI) methods have predominantly focused on estimating motion vectors between two input frames and warping them to the target time. While this approach has shown impressive performance for lin
Externí odkaz:
http://arxiv.org/abs/2311.11602
Drawing inspiration from human multi-domain walking, this work presents a novel reduced-order model based framework for realizing multi-domain robotic walking. At the core of our approach is the viewpoint that human walking can be represented by a hy
Externí odkaz:
http://arxiv.org/abs/2310.03179
Autor:
Lee, Jaemin
Publikováno v:
The Sustainability Revolution in International Trade Agreements.
Externí odkaz:
https://doi.org/10.1093/9780191994470.003.0022
The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to address safety-critical control problems in the presence of conflicting sa
Externí odkaz:
http://arxiv.org/abs/2305.03929