Search Results - "Ahn, Junhyeok"

Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control by Kim, Donghyun, Jorgensen, Steven Jens, Lee, Jaemin, Ahn, Junhyeok, Luo, Jianwen, Sentis, Luis

“…Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of…”
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Versatile Locomotion Planning and Control for Humanoid Robots by Ahn, Junhyeok, Jorgensen, Steven Jens, Bang, Seung Hyeon, Sentis, Luis

“…We propose a locomotion framework for bipedal robots consisting of a new motion planning method, dubbed trajectory optimization for walking robots plus…”
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Control and evaluation of a humanoid robot with rolling contact joints on its lower body by Bang, Seung Hyeon, Gonzalez, Carlos, Ahn, Junhyeok, Paine, Nicholas, Sentis, Luis

“…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…”
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Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances by Lee, Jaemin, Ahn, Junhyeok, Kim, Donghyun, Bang, Seung Hyeon, Sentis, Luis

“…This paper proposes an online gain adaptation approach to enhance the robustness of whole-body control (WBC) framework for legged robots under unknown external…”
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Investigations of a Robotic Test Bed With Viscoelastic Liquid Cooled Actuators by Kim, Donghyun, Ahn, Junhyeok, Campbell, Orion, Paine, Nicholas, Sentis, Luis

“…We design, build, and thoroughly test a new type of actuator-dubbed viscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAs excel in the…”
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Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems by Donghyun Kim, Campbell, Orion, Junhyeok Ahn, Sentis, Luis, Paine, Nicholas

“…To significantly improve actuation technology for legged systems, we design, build, and empirically test the viscoelastic liquid cooled actuator (VLCA) for use…”
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Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model by Ahn, Junhyeok, Lee, Jaemin, Sentis, Luis

“…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…”
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Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles by Ahn, Junhyeok, Campbell, Orion, Kim, Donghyun, Sentis, Luis

“…In this paper, we present a sampling-based kino-dynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planning…”
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Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System by Ahn, Junhyeok, Sentis, Luis

“…Model-based reinforcement learning (MBRL) algorithms can attain significant sample efficiency but require an appropriate network structure to represent system…”
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Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators by Ahn, Junhyeok, Kim, Donghyun, Bang, Seunghyeon, Paine, Nick, Sentis, Luis

“…This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons…”
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Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model by Ahn, Junhyeok, Lee, Jaemin, Sentis, Luis

“…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…”
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Reachability-based Trajectory Optimization for Robotic Systems Given Sequences of Rigid Contacts by Lee, Jaemin, Ahn, Junhyeok, Bakolas, Efstathios, Sentis, Luis

“…This paper proposes a method to generate feasible trajectories for robotic systems with predefined sequences of switched contacts. The proposed trajectory…”
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Data-Driven Safety Verification and Explainability for Whole-Body Manipulation and Locomotion by Ahn, Junhyeok, Bang, Seung Hyeon, Gonzalez, Carlos, Yuan, Yuanchen, Sentis, Luis

“…Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging…”
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Control and Evaluation of a Humanoid Robot with Rolling Contact Knees by Bang, Seung Hyeon, Gonzalez, Carlos, Ahn, Junhyeok, Paine, Nicholas, Sentis, Luis

“…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…”
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Data-Driven Safety Verification for Legged Robots by Ahn, Junhyeok, Bang, Seung Hyeon, Gonzalez, Carlos, Yuan, Yuanchen, Sentis, Luis

“…Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging…”
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Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators by Ahn, Junhyeok, Kim, Donghyun, Bang, SeungHyeon, Paine, Nick, Sentis, Luis

“…This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons…”
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Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles by Ahn, Junhyeok, Campbell, Orion, Kim, Donghyun, Sentis, Luis

“…We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan…”
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Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators by Kim, Donghyun, Ahn, Junhyeok, Campbell, Orion, Paine, Nicholas, Sentis, Luis

“…We design, build, and thoroughly test a new type of actuator dubbed viscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAs excel in the…”
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Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems by Jorgensen, Steven Jens, Campbell, Orion, Llado, Travis, Kim, Donghyun, Ahn, Junhyeok, Sentis, Luis

“…We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate…”
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