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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

Author

J. Oh

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2 papers indexed here

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Open access Aug 2026

Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots

This letter presents a real-time control-constrained Differential Dynamic Programming (DDP) framework for underactuated legged robots. To address the limitation of classical DDP in handling control constraints, we propose an Accelerated Projected Gradient (APG)-based control-constrained DDP (ABC-DDP), which efficiently...

S. Nam, Hyunyong Lee, Hansol Kang et al. · 0 citations
#reinforcement learning Open access Sep 2026

Enhancing Sim-to-Real Transfer for a High-Gear-Ratio Quadruped Robot via Extended Actuator Dynamics Identification

An augmented friction model that incorporates the Stribeck effect to capture the low-velocity nonlinearities characteristic of high-gear-ratio actuators and indicates that explicitly modeling low-velocity friction is beneficial for high-fidelity sim-to-real transfer in high-reduction systems.

Hansol Kang, Hyunyong Lee, Jiman Park et al. · 0 citations

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