Legged robots have demonstrated advanced capabilities across a wide range of real-world tasks, yet much of this progress concerns the robot controlling only itself. Once the robot is coupled to an external object -- particularly an underactuated one -- the dynamics of the combined assembly become more complex. Towing a...
Insu Yang, Eunchae Kim, Jungwoo Hur et al.· 0 citations
Recent advances in legged robot control have expanded the potential for quadruped robots in real-world applications, such as rescue operations in disaster zones and mountainous regions1. However, practical deployment is hindered by the limited travel range per battery charge: a challenge compounded by the robots’ inher...
Choongin Lee, D. Youm, Jeongsoo Park et al.· Nature· 0 citations
An end-to-end learned proprioceptive odometry estimator for legged robots under unreliable contact conditions that directly predicts relative displacement, relative rotation, and body-frame velocity from a recent history of onboard inertial and joint measurements.
This paper introduces a new Kinematic Normalizing Flow (KNF) model, trained on a large-scale kinematic dataset, that generates diverse yet feasible partial reference motions that effectively addresses whole-body control challenges by decomposing the complex loco-manipulation problem into partial reference motion genera...
Zhengmao He, Moonkyu Jung, Hyeongjun Kim et al.· arXiv.org· 0 citations
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